WEBVTT 00:00.320 --> 00:07.070 After so much talking about movie two, let's finally see how to integrate our robot with this software 00:07.070 --> 00:13.100 and configure it to be able to directly move the robot's gripper in the three dimensional space and 00:13.100 --> 00:18.470 calculate trajectories that move the robot from an initial configuration to a final one. 00:18.830 --> 00:24.380 Since we are adding new functionalities to the robot, let's start by creating a new package. 00:24.530 --> 00:30.080 So in the terminal, let's go to the workspace and into the SRC sub folder. 00:30.080 --> 00:33.080 And here let's create a new package with the two. 00:33.970 --> 00:36.610 Package create command. 00:36.970 --> 00:48.130 Let's use as a build type, amend CMake and let's name this package Arduino but move it. 00:49.630 --> 00:52.330 And let's press enter to create this package. 00:52.330 --> 00:56.350 So now we can see that we have the Arduino board Movete package. 00:56.470 --> 01:04.330 So let's go back to the workspace folder and let's build it again so that the new package is recognized 01:04.330 --> 01:10.090 and we can start inserting configuration files for move it inside this new package. 01:10.240 --> 01:18.520 So we can see here that the Arduino board moved here, is recognized and compiled now back in Visual 01:18.520 --> 01:19.360 Studio code. 01:20.280 --> 01:24.480 Let's open the Arduino board movete package that we have just created. 01:24.720 --> 01:30.450 And here, let's start by creating some configuration files that we are going to use to customize some 01:30.450 --> 01:32.970 of the movie functionalities for our robot. 01:33.270 --> 01:40.890 By convention, let's put all of these configuration files inside a new folder called config. 01:40.890 --> 01:50.130 And within this folder let's create a new file called Arduino bot dot s r DF. 01:50.250 --> 01:51.940 So let's press enter. 01:51.960 --> 02:04.920 This is still an XML file, so let's use the XML tag and then let's set the version to be the 1.0 and 02:04.920 --> 02:08.400 the encoding to be UTF eight. 02:09.230 --> 02:12.170 Then let's close the XML tag. 02:12.200 --> 02:18.320 This file has a structure that is very similar to the one that we used for our robots RDF model. 02:18.350 --> 02:27.020 In fact, like our RDF model of the robot, it also contains a robot tag and we can still assign it 02:27.230 --> 02:35.360 a name and let's call it Arduino bot and it will contain some additional information to the ones that 02:35.360 --> 02:41.930 are available in the RDF model and that it needs for the planning and for the execution of the trajectories. 02:42.570 --> 02:46.800 First, let's create two separate groups for the robot's joints. 02:47.040 --> 02:55.290 So let's create two containers that are called group and let's create a second one, a second group, 02:55.290 --> 02:57.330 and let's name the first group. 02:57.330 --> 03:02.490 So this one, let's name it the arm group. 03:02.490 --> 03:09.150 And this one will contain the joints that belongs to the robot's arm, including also the virtual joint. 03:09.360 --> 03:13.530 So let's start with the first one. 03:15.180 --> 03:20.430 That is the virtual joint. 03:20.430 --> 03:24.660 And then it also contains the first three movable joints of the arm. 03:24.840 --> 03:27.450 So the joints one, two and three. 03:28.350 --> 03:35.250 So let's add a new joint, and this one is called Joint one. 03:35.560 --> 03:40.410 Then let's copy this one and let's paste it three times. 03:41.400 --> 03:48.640 And so we are saying that the joint one, two and three, so the three of them belong to the ARM group. 03:48.790 --> 03:50.890 And also let's add a new joint. 03:51.700 --> 04:02.230 And this last one is the horizontal arm to clone support. 04:02.230 --> 04:08.620 And this this is horizontal, horizontal arm to close a port. 04:08.620 --> 04:12.160 And as you might remember, this is the last joint of the arm. 04:12.160 --> 04:15.670 So the one that connects actually the arm to the gripper. 04:16.440 --> 04:22.590 So let's define the second group and let's call this one gripper. 04:22.890 --> 04:25.380 And it contains the joints of the gripper. 04:25.380 --> 04:30.870 So basically it contains the joint. 04:33.630 --> 04:34.140 For. 04:36.610 --> 04:42.060 And then let's copy this one and let's paste it. 04:42.070 --> 04:43.870 And also the joint five. 04:45.090 --> 04:45.570 Next. 04:45.570 --> 04:49.350 For each group, we need to define a starting configuration. 04:49.350 --> 04:55.080 So we need to define a starting configuration of the joints of the robot so the joints that belong to 04:55.080 --> 04:56.730 each of these groups. 04:57.320 --> 05:07.220 So let's do so out of the group tags and we need to use the group state tag. 05:07.250 --> 05:11.720 So let's define to group states one of for each of the two groups. 05:11.810 --> 05:13.760 So group state. 05:14.630 --> 05:15.950 Okay, now we have two. 05:16.100 --> 05:21.890 And so the first one, let's call this one name home. 05:22.070 --> 05:25.730 And this refers to the home position for the group arm. 05:25.730 --> 05:29.780 So the group is the arm group. 05:30.050 --> 05:35.960 And now let's just set for the initial configuration, the value of all the joints that belong to the 05:35.960 --> 05:37.040 arm to zero. 05:37.190 --> 05:50.420 So for example, the joint one, let's set the value of the joint 1 to 0 and also let's do the same 05:50.420 --> 05:52.760 for the Joints two entry. 05:52.760 --> 05:58.170 So for all the movable joints that belong to the ARM group. 05:58.170 --> 06:00.180 So let's set their state to zero. 06:00.830 --> 06:02.630 Now for the gripper. 06:02.750 --> 06:06.470 So let's call the initial configuration also home. 06:07.370 --> 06:13.220 And the group which we refer to is the gripper. 06:13.700 --> 06:19.730 And also in this case, we need just to set the initial position of the joint. 06:21.680 --> 06:27.620 That is called joint four and its value. 06:27.650 --> 06:28.790 Let's set also to zero. 06:28.790 --> 06:34.550 So in this case, we don't need to set also the position of the joint five as as we said, for the two 06:34.550 --> 06:39.950 control library, the joint five will copy will mimic the movements of the joint four. 06:41.080 --> 06:44.500 As the final step for this SDF file. 06:44.530 --> 06:50.680 We also need to set up the collisions, so we need to configure the pairs of link among which we want 06:50.680 --> 06:54.520 to disable the collision control that is offered by Moovit. 06:54.760 --> 06:59.080 So this is useful especially for those links that are next to each other. 06:59.080 --> 07:04.270 And so therefore they are, let's say, always in collision or simply they are in contact with each 07:04.270 --> 07:04.690 other. 07:04.690 --> 07:07.150 For example, let's disable the collision. 07:07.150 --> 07:19.810 So disable collision between the link one that is the base link. 07:20.050 --> 07:24.940 And the link to that is the base plate. 07:24.970 --> 07:30.040 This way, basically move it to will not check for the collision among these two links. 07:30.040 --> 07:34.660 And so among the two meshes that are attached to these two links. 07:34.660 --> 07:38.410 And the reason is because they are adjacent. 07:38.410 --> 07:41.090 So at adjacent. 07:41.480 --> 07:46.070 Next, let's copy this one and let's paste it below. 07:46.070 --> 07:53.540 In order to disable the collision between the base link and the forward drive. 07:54.460 --> 08:00.100 Arm and let's never check this collision. 08:00.880 --> 08:11.500 Then let's also copy this one and let's avoid the collision check between this time the base plate and 08:11.500 --> 08:15.820 the forward drive arm and also then the closer port. 08:20.460 --> 08:26.100 And the forward drive arm and then also between the close support. 08:29.880 --> 08:31.590 And the gripper left. 08:35.560 --> 08:37.740 And then the one with the gripper. 08:37.750 --> 08:38.290 Right. 08:38.620 --> 08:42.190 So let's copy this one with the gripper. 08:43.660 --> 08:44.540 Right. 08:44.560 --> 08:49.870 And then also another one between the forward drive arm. 08:51.130 --> 08:57.940 So this one and the gripper left and the forward drive arm and the gripper. 08:58.780 --> 08:59.500 Right. 09:00.310 --> 09:10.540 Then let's also add a new one between the forward drive arm and the horizontal arm. 09:10.540 --> 09:19.000 And then still with the gripper left between the gripper left and the horizontal arm. 09:20.360 --> 09:22.510 And then the other one with the gripper. 09:22.520 --> 09:23.120 Right. 09:24.530 --> 09:25.730 So gripper. 09:27.380 --> 09:28.040 Right. 09:28.040 --> 09:29.660 And the horizontal arm. 09:29.660 --> 09:36.050 And then the last one that is between the gripper left and between the gripper. 09:36.050 --> 09:36.650 Right. 09:36.860 --> 09:38.180 Let's save this file. 09:38.180 --> 09:42.890 And this configuration file is completed so we can move on with the next one. 09:42.980 --> 09:46.340 So let's create a new file still within the config folder. 09:46.520 --> 09:53.570 And let's call this one initial positions dot yaml. 09:53.570 --> 09:55.970 So this time this is a Yaml file. 09:56.210 --> 10:00.800 And here for each of the robots movable joint, we need to add a position. 10:00.800 --> 10:02.630 So an initial configuration. 10:02.630 --> 10:09.950 So let's add initial position and for example, let's set all the joints to zero. 10:09.950 --> 10:14.840 So joint 1 to 0 and then let's copy this one. 10:16.910 --> 10:18.830 And let's paste it below. 10:19.940 --> 10:25.070 And so we have joined two, three and four, all set to zero. 10:25.490 --> 10:30.380 And also, let's save this file and we can create another configuration file. 10:30.380 --> 10:31.640 So still here. 10:31.820 --> 10:36.470 And let's call this one joint limits. 10:37.190 --> 10:39.050 Still, this is a Yaml file. 10:39.170 --> 10:44.750 And in this file, as you might have guessed from the name, we need to specify the kinematic limit 10:44.750 --> 10:46.190 for each movable joint. 10:46.310 --> 10:50.280 So let's start by setting the default velocity scaling factor. 10:50.300 --> 11:13.550 So default velocity scaling factor to 0.1 and the default acceleration scaling factor again to 0.1. 11:13.730 --> 11:20.010 And this reduces the maximum speed and the maximum acceleration with which the robot will be asked to 11:20.010 --> 11:20.370 move. 11:20.370 --> 11:22.170 And so to follow the trajectories. 11:23.000 --> 11:25.490 Now we can use the joint limits. 11:25.490 --> 11:33.560 So let's set the joint limits to assign some limits to all the movable joints of the robot. 11:33.680 --> 11:36.710 So let's start with the joint one. 11:36.710 --> 11:38.570 And this has velocity limits. 11:38.570 --> 11:48.490 So let's set these velocity limits to true, and then let's set the maximum velocity to ten. 11:48.500 --> 11:53.390 So let's put this one inside because this one belongs to the joint one. 11:53.840 --> 11:58.760 So let's set the max velocity to ten. 11:59.830 --> 12:02.950 And it doesn't have instead acceleration limit. 12:02.950 --> 12:04.360 So let's set these 12:06.430 --> 12:10.660 acceleration limits to false. 12:10.660 --> 12:18.790 And so let's leave the maximum acceleration to zero since it will not be used here. 12:18.790 --> 12:24.940 We're missing the two dots since we are going to use the same motors with the same properties for all 12:24.940 --> 12:26.620 the movable joints of the robot. 12:26.650 --> 12:28.840 We can copy these limits. 12:28.850 --> 12:32.140 So these parameters here also for the other joints. 12:32.140 --> 12:33.880 So let's copy these. 12:34.670 --> 12:35.840 Three more times. 12:35.840 --> 12:41.750 And so let's set the properties for the joint to three and also for the joint four. 12:43.250 --> 12:47.000 And finally the joint five here. 12:47.970 --> 12:52.980 Let's also save this file and let's continue by creating another configuration file. 12:52.980 --> 13:01.590 So still within the config folder, let's create a new file and this one is called kinematic dot Yaml. 13:01.860 --> 13:08.390 In this file we need to declare and configure the kinematic solver that move it has to use for our robot. 13:08.400 --> 13:15.720 So we only need to use a kinematic solver for the group of joints that we called arm that actually compose 13:15.720 --> 13:20.350 the actual arm of the robot and let's use one that is available in the 13:23.250 --> 13:24.420 kinematics. 13:27.300 --> 13:28.560 Plugin package. 13:28.560 --> 13:37.920 And specifically let's use the k d, l kinematics plugin. 13:39.090 --> 13:40.740 Then let's also set the parameter 13:42.840 --> 13:53.810 kinematics solver search resolution to be 0.05. 13:53.820 --> 14:04.980 And also let's set the kinematics solver timeout to be 0.005. 14:05.670 --> 14:11.160 Here the resolution is 0.005. 14:11.580 --> 14:20.610 And finally, let's set one last parameter that is called position only inverse kinematic. 14:20.790 --> 14:23.400 And let's set this one to true. 14:23.640 --> 14:28.300 This parameter is useful since our robot has only three degrees of freedom. 14:28.300 --> 14:34.930 And so we are asking the inverse kinematic solver to define only the position in the space of the robot. 14:34.930 --> 14:37.450 So if the gripper and not its orientation. 14:37.450 --> 14:43.720 So we don't want to specify the orientation of the gripper in the space, since we don't have enough 14:43.720 --> 14:47.770 number of degrees of freedom, we don't have enough actuator for our robot. 14:48.100 --> 14:52.660 So let's save this file and let's add another configuration file. 14:52.900 --> 14:57.520 So let's create here a new configuration file that we can call Move It 14:59.770 --> 15:01.060 controllers. 15:01.480 --> 15:07.960 This is still a Yaml configuration file and we use this configuration file to connect the move library 15:07.960 --> 15:14.140 with the Ros2 control library that we have already configured for our robot and therefore with the controllers 15:14.140 --> 15:16.600 that we used to move the robot's joints. 15:17.080 --> 15:24.820 So let's specify the parameters for the move IT controller manager. 15:25.330 --> 15:31.240 And so we want to use the move it simple 15:33.640 --> 15:34.960 controller Manager. 15:34.960 --> 15:46.660 So from this package we want to use the move it simple controller manager and then let's configure this 15:46.660 --> 15:48.190 simple controller manager. 15:48.370 --> 15:55.750 So let's configure the move it simple controller manager informing that there are two controllers actually 15:55.750 --> 15:57.970 that we want to configure for our robots. 15:58.150 --> 16:09.340 And there are the arm controller and also the gripper controller and these are the names of the two 16:09.340 --> 16:10.240 controllers. 16:10.240 --> 16:15.130 So the arm controller and the gripper controller are the names of the two controllers that we have configured 16:15.130 --> 16:19.000 for our robot using the Ros to control library. 16:19.570 --> 16:31.420 Now regarding the arm controller, this offers an action with the namespace follow joint trajectories. 16:31.420 --> 16:39.640 So let's use the action namespace that is the follow joint 16:41.830 --> 16:52.960 trajectory and the type of the action that it offers is follow joint trajectory as we have defined when 16:52.960 --> 16:56.410 we configured the arm controller for the Ros2 control. 16:56.770 --> 17:00.430 And also let's set the default configuration for this action. 17:02.020 --> 17:05.500 So let's use the true in order to use the default configuration. 17:05.710 --> 17:10.780 And also then we need to set which are the joints that are actuated by this controller. 17:10.780 --> 17:22.570 So the joints that are actuated by the arm controller are the joint one, the joint two and the joint 17:22.570 --> 17:23.080 three. 17:23.230 --> 17:30.600 Now regarding the gripper controller, this also use the same namespace. 17:30.600 --> 17:39.690 So the action namespace is still follow joint trajectory and also it uses the follow joint controller. 17:40.890 --> 17:43.530 And also let's set the default to true. 17:44.820 --> 17:52.710 And this time the joints that are actuated by this one, so by the gripper controller are the joint 17:52.710 --> 17:58.710 four and also the joint five that simply mimics the behavior of the joint four. 17:59.220 --> 18:00.990 Let's save also this file. 18:01.140 --> 18:04.710 And next we need to create one last configuration file. 18:04.710 --> 18:15.120 So here let's create this new file that is called p, l, e, z, Cartesian limits. 18:15.780 --> 18:17.730 And this is a yaml file. 18:18.000 --> 18:23.250 And in this file we need to specify the limits during the Cartesian movements of the robot. 18:23.250 --> 18:25.950 So the ones along the x, y and. 18:26.070 --> 18:40.590 Z-axis so Cartesian limits of the robot and let's set the max translational velocity to be 1.0. 18:40.830 --> 18:45.210 Then the max transactional 18:47.220 --> 18:50.970 acceleration to be 2.25. 18:51.180 --> 18:59.700 Then the maximum transactional deceleration to be minus five. 19:00.030 --> 19:09.420 The maximum maximum rotational velocity to be, for example, 1.57. 19:10.280 --> 19:13.400 Let's also save this last configuration file. 19:13.730 --> 19:19.670 The last configuration that we need for the proper execution of Movie2 is to change the default implementation 19:19.670 --> 19:21.980 of the DDS used by Ros2. 19:22.610 --> 19:29.540 In fact, as we can see from the official wiki of Movie2, they are currently having some issues with 19:29.540 --> 19:33.110 the default implementation that comes with ros2. 19:33.290 --> 19:37.250 So here they suggest to switch to cyclone DDS. 19:37.430 --> 19:43.040 And so in order to do so, let's start by installing this implementation of DDS. 19:43.190 --> 19:48.260 So let's open a new terminal and let's copy this command here. 19:48.530 --> 19:52.100 You need to change with the Ros2 version that you are using. 19:52.220 --> 19:54.930 That in my case is ros2 humble. 19:54.950 --> 20:00.320 So let's press enter in order to install this implementation. 20:04.250 --> 20:10.610 And then in order to start actually using this implementation of DDS, we need to copy this line here 20:10.610 --> 20:14.180 and we need to paste it within the bash RC file. 20:14.270 --> 20:18.890 So let's use vim to modify the file dot bash. 20:19.220 --> 20:23.300 RC And here at the end of the file, let's add this line. 20:23.660 --> 20:27.020 So let's close and save the bash. 20:27.020 --> 20:27.350 RC. 20:27.680 --> 20:33.730 And now from the next time we will open a new terminal Roscoe will use by default cyclone DDS. 20:33.740 --> 20:40.280 So the one suggested by move it to for the communication and the message exchange protocol as this implementation 20:40.280 --> 20:42.170 is fully compatible with move. 20:43.220 --> 20:48.860 For now, this configuration files are all we need for launching and executing. 20:48.860 --> 20:50.810 Move it for our robot. 20:50.810 --> 20:57.470 And so to use the modules of inverse kinematics, trajectory planning and also trajectory execution. 20:58.190 --> 21:03.840 However, before concluding this lesson, I wanted to show you an alternative way to generate the Moovit 21:03.860 --> 21:06.080 configuration for a specific robot. 21:06.110 --> 21:10.790 In fact, instead of manually writing all of these configuration files. 21:10.790 --> 21:17.390 So here that we created inside the Arduino bot Moovit package move, it also offers a graphical interface 21:17.390 --> 21:22.040 called Setup Assistant to configure the features for your robot. 21:22.340 --> 21:31.190 So we can launch this functionality by opening a new terminal and using the command Ros to launch and 21:31.190 --> 21:36.320 from the Moovit setup assistant package. 21:36.440 --> 21:40.040 Let's start the setup assistant dot launch dot pi. 21:40.550 --> 21:42.350 So let's press enter. 21:42.350 --> 21:49.100 And now in this guy you can load, for example, the robot's Urdf model, which will automatically configure 21:49.100 --> 21:55.160 then some parameters such as, for example, automatically ignoring the collisions between the robots 21:55.160 --> 22:01.010 link during the planning or also automatic detect, which are the controllers that are used and so on. 22:01.460 --> 22:07.790 Upon completing then the moovit configuration with this tool, with the setup assistant, all the packages 22:07.790 --> 22:11.660 and all the configuration files are also then created automatically. 22:12.290 --> 22:19.040 However, normally this tool generates many more configuration files with many more parameters which 22:19.040 --> 22:24.980 are deemed unnecessary for the purpose of this tutorial and for the robot's functionalities in order 22:24.980 --> 22:31.280 to offer you a cleaner code and also a cleaner configuration parameters with fewer parameters that you 22:31.280 --> 22:34.730 can easily understand and also that you can easily tune.