PILZ robot manipulator module PRBT 6 in ROS

Package: pilz_robots

The meta package for the PILZ manipulator PRBT 6. Here you can find documentation of the individual packages. For a general overview and link collection we refer to the wiki page.

Installation

To use the packages, you can install prebuilt packages with

sudo apt install ros-$ROS_DISTRO-pilz-robots

Build Status

	Kinetic	Melodic	Noetic
Travis/Github CI
Buildfarm src			coming soon
Buildfarm bin			coming soon

Branching model

noetic-devel is considered to be the active development branch. Relevant changes are cherry-picked into melodic-devel or kinetic-devel on a case-by-case basis.

Supported hardware versions

PRBT firmware version 1.1.0

If you want to update your PRBT firmware please contact our repair center.

Package: prbt_support

The package contains the robot description of the PRBT manipulator.

• urdf/ contains the xacros for generating the urdf descriptions of the PILZ robot PRBT.
• meshes/ contains the stl files for visualization
• test/ contains test files for urdf
  • build tests: catkin_make tests
  • build and run tests: catkin_make run_tests
• config/ defines the controllers and drivers. Loads the specialized PilzTrajectoryController.

Pilz Coordinate Frames

To see the robot in rviz you can use roslaunch prbt_support test_urdf.launch

The joint directions are illustrated in the following image:

Configure the tcp

You can easily adjust the tool center point frame with an offset and rotation in the xacro file.

1. Open prbt_support/urdf/prbt.xacro
2. Edit the lines to your desired offset

  <xacro:unless value="$(arg gripper)">
    <xacro:arg name="tcp_offset_xyz" default="0 0 0"/>
    <xacro:arg name="tcp_offset_rpy" default="0 0 0"/>
  </xacro:unless>

Note: You can set a different default if you have a gripper attached.

Package: prbt_moveit_config

The package is generated by moveit setup assistant. It contains configuration files and launch files needed to start up the robot including planning and execution.

Configuring the robot

Use the launch file moveit_planning_execution.launch to bring up the robot controllers with the complete moveit pipeline. The launch file allows to set optional parameters

• sim (default: True)
  true: Use fake execution and display emulated robot position in RViz
  false: connect to real robot using ros_canopen
• pipeline (default: ompl)
  Planning pipeline to use with moveit
• load_robot_description (default: True)
  Load robot description to parameter server. Can be set to false to let someone else load the model
• rviz_config (default: prbt_moveit_config/launch/moveit.rviz)
  Start RViz with default configuration settings. Once you have changed the configuration and have saved it inside your package folder, set the path and file name here.
• gripper (default: None)
  See Running the prbt with a gripper
• safety_hw (default: pss4000)
  Connect to the safety controller that handles the safe-torque-off signal. Only relevant for sim:=False to issue a Safe stop 1. See prbt_hardware_support package.

Running the simulation

1. Run roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=true pipeline:=ompl
2. Use the moveit Motion Planning rviz plugin to plan and execute (see e.g. ROS-I training exercise 3.4)

Running on the real robot

1. Activate can interface: sudo ip link set can0 up type can bitrate 1000000 (after every reboot or reconnect of the CAN hardware). For persistent configuration append the following to the file /etc/network/interfaces

File truncated at 100 lines see the full file