Installation

Dependencies

Ensure the following dependencies are installed before proceeding:

1. Log4cxx

If not already installed, install Log4cxx:

sudo apt-get install liblog4cxx-dev

2. POCO C++ Libraries

Download and install the POCO C++ Libraries.

3. ROS 2 Humble

Install ROS 2 Humble by following the official installation guide.

4. MoveIt 2 for ROS 2 Humble

Install MoveIt 2 using the following command:

sudo apt install ros-humble-moveit

5. Required ROS 2 Package

Install the necessary ROS 2 package:

sudo apt install ros-humble-ur

Create a Workspace

Set up your ROS 2 workspace:

mkdir ros2_ws
cd ros2_ws
mkdir src
colcon build

Clone the Repositories

Navigate to the src directory of your workspace and clone the required repositories:

git clone -b modern_cmake https://github.com/JRL-CARI-CNR-UNIBS/cnr_class_loader.git
git clone https://github.com/CNR-STIIMA-IRAS/cnr_logger.git
git clone https://github.com/CNR-STIIMA-IRAS/cnr_param.git
git clone https://github.com/CNR-STIIMA-IRAS/cnr_yaml.git

git clone https://github.com/JRL-CARI-CNR-UNIBS/graph_core.git

git clone -b ros2 https://github.com/JRL-CARI-CNR-UNIBS/moveit_collision_checker.git
git clone -b ros2 https://github.com/JRL-CARI-CNR-UNIBS/cnr_scene_manager.git
git clone -b ros2 https://github.com/CNR-STIIMA-IRAS/cnr_tf_named_object_loader.git

git clone https://github.com/JRL-CARI-CNR-UNIBS/ik_solver.git
git clone https://github.com/JRL-CARI-CNR-UNIBS/ik_solver_msgs.git
git clone -b ros2 https://github.com/JRL-CARI-CNR-UNIBS/ur_ik_solver.git
git clone https://github.com/JRL-CARI-CNR-UNIBS/pose_constraint_path_planning.git
git clone -b ros2 https://github.com/JRL-CARI-CNR-UNIBS/graph_display.git

Configure Colcon Defaults to avoid using all the cpus to compile

Create the .colcon folder and a defaults.yaml file with the following content:

mkdir -p ~/.colcon
echo "build:
  parallel-workers: 1" > ~/.colcon/defaults.yaml

if colcon uses all the RAM, call ulimit in the shell before compiling, to limit the usage (for example to 4GB):

ulimit -v 4000000

Build the Workspace

Build the workspace with the following command:

colcon build --symlink-install --cmake-args -DUSE_ROS1=False

Environment Variables

You can set the required environment variables manually in each terminal session or add them to your .bashrc.

export CNR_PARAM_ROOT_DIRECTORY="/tmp/cnr_param"

If not present, you need to create a default_logger.yaml file with the following content

appenders: ['screen']                             # Mandatory
                                                  # A vector od dimension 1 or 2, where you can select if the output will be streamed to file, to screen or to both
                                                  # (the order in the vector is not important)

levels: ['debug']                                   # Optional
                                                  # A vector where you can select the verbosity level for each appender.
                                                  # If not present, or if the size of the vector is different from the dimension of the appenders,
                                                  # the default value is superimposed.
                                                  # Default: 'debug' for all the appenders

You need to point to the default_logger.yaml file in an environment variable

export IK_SOLVER_LOGGER_CONFIG_PATH=~/ros2_ws/install/ik_solver_test/share/ik_solver_test/config/default_logger.yaml

Execution

Use the following commands to launch the necessary components (source ros2_ws/install/setup.bash in each terminal before start, or automatically source it in your .bashrc file):

1. Terminal 1: Launch the UR robot driver with fake hardware:

   ros2 launch ur_robot_driver ur10e.launch.py use_fake_hardware:=true robot_ip:=127.0.0.1 activate_joint_controller:=true

2. Terminal 2: Launch MoveIt configuration for the UR robot:

   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e use_fake_hardware:=true launch_rviz:=true

   here you can add a Marker (add-> marker) with topic /marker_visualization_topic to see the path.

3. Terminal 3: Launch the pose constraints planner:

   ros2 launch pose_constraints_planner test_solver.launch.yaml