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3DOF Smart Template (ROS2) package: ros2_smart_template

Quick demo test

To give it a try on simulation mode, launch:

ros2 launch smart_template robot.launch.py sim_level:=1 rviz:true

Overview

This repository contains:

  • ROS2 package for communicating with the 3 DoF Smart Template
  • The 3DoF Smart Template uses Galil Controller to control the position of the 3 motors
  • ROS2 Foxy, Ubuntu 20.04 / ROS2 Humble, Ubuntu 22.04

Description

Subscribers

  • None

Publishers

  • '/stage/state/guide_pose', a PoseStamped with the current position of the template. It's refresh rate is given by the "timer_period"
  • '/joint_states', a JointState with the current joint values of the template. It's refresh rate is given by the "timer_period"

Action server

  • The template node exposes the /stage/move action which takes a /smart_template_interfaces/action/MoveStage action message of the format:
float64 x
float64 y
float64 z
float64 eps
---
float64 x
float64 y
float64 z
float64 time
float64 error
int32 error_code
---
float64 x
float64 y
float64 z
float64 error
float64 time

Service server

  • The template node exposes the /stage/command service which takes a /smart_template_interfaces/srv/ControllerCommand action message of the format:
string command
---
string response

where command can be: 'HOME', or 'RETRACT' ('ABORT' still to be implemented)

  • The template node exposes the /stage/get_position service which takes a /smart_template_interfaces/srv/GetPoint action message of the format:
---
float64 x
float64 y
float64 z
bool valid

where valid is False in case of communication error with Galil, and True otherwise

Launch files

  • robot.launch.py
    • Argument: "sim_level"
      • 1 - VIRTUAL ROBOT (FOR SIMULATION ONLY)
      • 2 - REAL HARDWARE
    • Argument: "rviz"
      • false - NO rviz
      • true - loads rviz
    • Argument: "gui"
      • false - NO rqt GUI custom plugin
      • true - loads rqt GUI custom plugin

Usage

Axis

  • Left-right (horizontal): x
  • Anterior-posterior (vertical): z
  • Inferior-superior (insertion): y

Network connection

  • Setup the computer network to:

    • IP: 192.168.0.9
    • Subnet mask: 255.255.255.0

  • Galil commands using gclib:

    • galil = gclib.py() #create communication
    • galil.GOpen('192.168.0.99') #open communication
    • galil.GCommand('XXXX') #Send command to Galil
    • list of commands:
      • DPX=Y Define the position Y in the axis X
      • PTX Define the absolute motion mode in the axis X
      • PAX=Y Send command to move the axis X to the position Y
      • For more commands, check Galil docummentation