Merge pull request #1313 from 708yamaguchi/kinova-gen3

jsk_kinova_robot/README.md

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+# jsk_kinova_robot
+
+ROS package for KINOVA Gen3/Gen3 Lite robot.
+
+- KINOVA web page
+  https://www.kinovarobotics.com/en/products/gen3-robot
+- GitHub
+  https://github.com/Kinovarobotics/ros_kortex
+
+## How to setup the network of KINOVA robot
+
+This is an overview of the network setup process.
+Refer to the documentation on [KINOVA resouce page](https://www.kinovarobotics.com/en/resources/technical-resources-library) if necessary.
+
+Kinova can be connected with a computer via **USB, Ethernet and Wi-Fi**. 
+
+### Via USB
+
+Micro-B USB to USB type-A cable is required.
+
+1. Connect one end of the micro-B USB to type-A cable to the micro-B USB connector in the robot and connect the other end to the computer.
+2. DHCP server on the robot base has worked correctly, and then the computer automatically is assigned an IP address. Try to connect to the robot via _Web App_ below. If not, you have to configure the computer RNDIS settings manually. See the steps below.
+3. Open the network settings in your computer and set the IPv4 address:192.168.1.11 and Subnet mask:255.255.255.0. 
+
+### Via Ethernet
+USB type-A to Ethernet adapter is required.
+
+1. Connect an Ethernet cable to the robot by using the USB type-A to Ethernet adapter.
+2. On your computer, open the network settings and set the IPv4 address:192.168.2.11 and Subnet mask:255.255.255.0.
+3. Try to connect to the robot via _Web App_ below.
+
+### Via Wi-Fi
+Connecting your computer to ```133.11.xx.xxx``` is necessary.
+
+1. Before you begin, you need to have a wired connection between the computer and the robot. **See the chapter Ethernet or USB and complete it** and see _Open Web App_ below.
+2. Open Web App and connect to the robot. 
+3. Go to the Wireless & Networks page under the Configurations page. 
+4. You can see all of the detected Wi-Fi networks. Choose the networks you use, and fill in the required information.
+
+### Open Web App
+You can interact with the arm and perform basic tasks through an Web browser.
+
+1. Confirm connecting the robot with a computer. From the web browser, enter the appropriate IP address for the arm base to access the Web App.
+- 192.168.1.10 if connecting via USB
+- 192.168.2.10 if connecting via Ethernet
+- See the robot base if connecting via Wi-Fi. You can read xx.xx.xx...jp here.
+2. Fill in the credentials in the login window and click CONNECT.
+
+## How to setup development environment
+
+### Conan Setup
+
+You need to install `conan` (Decentralized, open-source (MIT), C/C++ package manager) to build kinova packages
+
+```bash
+sudo apt install python3 python3-pip
+python3 -m pip install --user conan
+conan config set general.revisions_enabled=1
+conan profile new default --detect > /dev/null
+conan profile update settings.compiler.libcxx=libstdc++11 default
+```
+
+### ROS Environment Setup
+
+Use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
+
+```bash
+mkdir -p ~/kinova_ws/src
+cd ~/kinova_ws/src
+wstool init
+wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_kinova_robot/kinova.rosinstall
+wstool update
+cd ../
+source /opt/ros/melodic/setup.bash
+rosdep install -y -r --from-paths src --ignore-src
+catkin build jsk_kinova_startup kinovaeus
+source devel/setup.bash
+```
+
+## Start ROS Node
+
+Start real kinova robot. `ip_address` can be given by both ip address and FQDN (e.g. abc.def.jp)  
+Use the appropriate ip address according to the type of network you are using  
+The IP address is the same as when using Web App
+
+```bash
+# Gen3 robot
+roslaunch jsk_kinova_startup kinova_bringup.launch ip_address:=xxxx
+# Gen3 lite robot
+roslaunch jsk_kinova_startup kinova_bringup.launch ip_address:=xxxx arm:=gen3_lite
+```
+
+Start rviz from different terminal
+
+```bash
+roslaunch jsk_kinova_startup rviz.launch
+```
+
+## Use EusLisp model
+To control the robot form EusLisp. Please start `roseus` and type as follows.
+```
+
+(load "package://kinovaeus/kinova-interface.l")
+;; Gen3 with robotiq 2f 85 gripper
+(kinova-init :type :gen3_robotiq_2f_85)
+;; Gen3 with robotiq 2f 140 gripper
+(kinova-init :type :gen3_robotiq_2f_140)
+;; Gen3 Lite
+(kinova-init :type :gen3_lite_gen3_lite_2f)
+```
+
+Use `:angle-vector` method to specify the arm joint angle.
+```
+(send *kinova* :angle-vector #f(0.0 15.0 180.0 -130.0 0.0 55.0 90.0))
+```
+
+You can also use `:inverse-kinematics` method to specify the arm pose from target coordinates.
+```
+(send *ri* :angle-vector (send *kinova* :arm :inverse-kinematics (make-coords :pos #f(300 0 200) :rpy (float-vector 0 pi/2 0)) :debug-view t) 3000)
+```
+
+To move the gripper 50 [mm] up, you can use `move-end-pos` method.
+```
+(send *kinova* :arm :move-end-pos #f(0 0 -50))
+```
+
+You can also use move-end-rot method to turn the gripper.
+```
+(send *kinova* :arm :move-end-rot -90 :z)
+```
+
+To open/close gripper, you can use `start-grasp` and `stop-grasp` method.
+```
+(send *ri* :start-grasp)
+(send *ri* :stop-grasp)
+```
+
+To control real robot. you can use *ri* object.
+```
+(send *ri* :angle-vector (send *kinova* :angle-vector) 2000)
+```
+2000 indicates we ask robot to move for 2000 [msec]
+
+To obtain current robot pose, use :state :potentio-vector method.
+```
+(send *kinova* :arm :move-end-pos #f(0 0 -50))
+```
+
+To obtain current robot pose, use `:state :potentio-vector` method.
+
+```
+(send *ri* :state :potentio-vector)
+```
+
+To open and close the gripper, You can use `:start-grasp` and `:stop-grasp`.
+
+```
+(send *ri* :stop-grasp)
+(send *ri* :start-grasp)
+```
+
+## Gazebo simulation
+Kinova Gen3 robot with robotiq 2f 85 gripper.
+```bash
+# Terminal 1
+roslaunch kortex_gazebo spawn_kortex_robot.launch arm:=gen3 gripper:=robotiq_2f_85 robot_name:=arm_gen3
+# Terminal 2
+roscd kinovaeus
+roseus kinova-interface.l
+(kinova-init :type :gen3_robotiq_2f_85)
+```
+
+Kinova Gen3 Lite robot with lite 2f gripper.
+```bash
+# Terminal 1
+roslaunch kortex_gazebo spawn_kortex_robot.launch arm:=gen3_lite gripper:=gen3_lite_2f robot_name:=arm_gen3
+# Terminal 2
+roscd kinovaeus
+roseus kinova-interface.l
+(kinova-init :type :gen3_lite_gen3_lite_2f)
+```
+
+## Trouble shooting
+- The robot doesn't work without errors in roseus and you see the following error in the terminal where you launched the launch file. TODO
+  - Turn off the power
+  - Make a posture that does not exceed the upper or lower limit of the joint angle
+  - Turn it back on
+```bash
+-----------------------------
+Error #38
+Type : TRAJECTORY_ERROR_TYPE_JOINT_POSITION_LIMIT
+Identifier : TRAJECTORY_ERROR_IDENTIFIER_POSITION
+Actuator : 3
+Erroneous value is -150.149 but minimum permitted is -150.115 and maximum permitted is 150.115
+Additional message is : Invalid Position - Position of actuator(2) in Trajectory Point (37) exceeds limits
+-----------------------------
+```
+This error message above also can be seen in the topic `/arm_gen3/gen3_lite_joint_trajectory_controller/follow_joint_trajectory/result`. 
+- Joint limits are different from the ones in the URDF! This causes the problem above.
+  - See User guides(ex.[PDF:Gen3_Lite](https://artifactory.kinovaapps.com/artifactory/generic-documentation-public/Documentation/Gen3%20lite/Technical%20documentation/User%20Guide/Gen3_lite_USER_GUIDE_R03.pdf) pp.71-72) 
+  - See URDF descriptions([gen3_7dof](https://github.com/Kinovarobotics/ros_kortex/blob/kinetic-devel/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro), [gen3_6dof](https://github.com/Kinovarobotics/ros_kortex/blob/kinetic-devel/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro), [gen3_lite](https://github.com/Kinovarobotics/ros_kortex/blob/kinetic-devel/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro))
+
+- Error in the initial movement in roseus (under investigation)
+  - When you used the robot by Web App and then tried to use it by roseus, it occured.
+```bash
+[ERROR] [1623300893.102460026]: Trajectory has been aborted.
+[ERROR] [1623300893.102550198]: Trajectory execution failed in the arm with sub error code 69
+The starting point for the trajectory did not match the actual commanded joint angles.
+```
+---
+If you have any question, please feel free to file open at https://github.com/jsk-ros-pkg/jsk_robot/issues

jsk_kinova_robot/jsk_kinova_startup/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_kinova_startup)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+#############
+## Install ##
+#############
+install(DIRECTORY config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+
+#############
+## Testing ##
+#############
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS roslaunch roslint)
+
+  file(GLOB LAUNCH_FILES launch/*.launch)
+  # TODO: Do not do roslaunch_add_file_check()
+  # because upstream package (kortex_driver and kinova_vision) tests do not pass
+  # foreach(LAUNCH_FILE ${LAUNCH_FILES})
+  #   roslaunch_add_file_check(${LAUNCH_FILE})
+  # endforeach()
+
+  set(ROSLINT_PYTHON_OPTS --max-line-length=180 --ignore=E221,E222,E241) # skip multiple spaces before/after operator
+  roslint_python()
+  roslint_add_test()
+endif()