ABB crb15000 Simulation and Control Environment

Quick links: compas docs | compas_fab docs | compas_rrc_docs | rrc github repository | overview compas extensions | urdf and moveit tutorials | troubleshooting

Requirements

• Operating System: Windows 10 Pro ⁽¹⁾.
• Rhinoceros 3D 7.0
• Anaconda Python Distribution: 3.x
• Docker Community Edition: Download it for Windows. Leave "switch Linux containers to Windows containers" disabled.
• X11 Server: On Windows use XMing, on Mac use XQuartz (see details here).
• Git: official command-line client or visual GUI (e.g. Github Desktop or SourceTree)
• ABB RobotStudio: 6.08 (only available for Windows). After install, make sure you add the latest RobotWare, 6.12.00 or newer (Add-Ins -> RobotApps -> Filter for RobotWare and add the version 6.12.00 or newer in the drop-down menu to the right). Please find further instructions for the installation here.
• VS Code with the following Extensions:
  • Python (official extension)
  • EditorConfig for VS Code (optional)
  • Docker (official extension, optional)
  • RAPID ABB (Syntax highligher for RAPID files in VS Code, optional)

^{(1): Windows 10 Home does not support running Docker.}

Dependencies

• COMPAS RRC

Getting Started

1. Setting up the Anaconda environment with all dependencies

Execute the commands below in Anaconda Prompt:

Install Compas & Compas Fab

(base) conda config --add channels conda-forge
(base) conda create -n ffc compas_fab --yes
(base) conda activate ffc

Install Compas RRC

(ffc) conda install compas_rrc

Install on Rhino

(ffc) python -m compas_rhino.install -v7.0

Verify Installation

(ffc) pip show compas_fab

Name: compas-fab
Version: 0.XX.X
Summary: Robotic fabrication package for the COMPAS Framework
....

2. Cloning and installing the repository

Repository Cloning

• Create a workspace directory: C:\Users\YOUR_USERNAME\workspace
• Open Github Desktop and clone the repository this repository into you workspace folder.

3. Simulation & Control

Robot Artist

• Open the file rhino/fabtory_artist.ghx and load the robot model, you can then visualize the robot and move the axis and joints with forward kinematics.

Moveit Simulation Playground

• Once you opened the file rhino/fabtory.3dm and rhino/fabtory_simulation.ghx and loaded the robot model, you can start the Docker ROS moveit simulation environment and connect your ROS client to it.
• For starting the Docker ROS moveit simulation environment, go to VS code and start the docker containers by:
  • Running Docker images: Run the docker image for the moveit simulation docker/ros-systems/moveit_simulation/docker-compose.yml via
    • right-click on the file Compose-up or
    • type docker-compose up -d in the Terminal (cd to folder) to start it.
    • when ending, don't forget to stop the image via docker-compose down -d
• For access to the web UI of the docker image, start your browser and go to:
  http://localhost:8080/vnc.html?resize=scale&autoconnect=true
• In Rhino, you can now connect the ROS client to the rosbridge and query all moveit related services (compute_ik, trajectory planning, etc.)

Robotstudio Simulation & Control Playground

• Once you opened the file rhino/fabtory.3dm and rhino/fabtory_control.ghx and loaded the robot model, you can start the Docker ROS control environment and connect your ROS client to it.
• For starting the Docker ROS control environment, go to VS code and start the docker containers by:
  • Running Docker images: Run the docker image for the robot control docker/ros-systems/virtual_controller/docker-compose.yml via
    • right-click on the file Compose-up or
    • type docker-compose up -d in the Terminal (cd to folder) to start it.
    • when ending, don't forget to stop the image via docker-compose down -d
• In Robotstudio, first, open the FlexPendat view Controller > FlexPendant > IRC5 FlexPendant, and then start the simulation via Simulation > Play
• For first testing, open and run the tests/welcome_tum.py file in VS Code
• In Grasshopper, you can now connect the ROS client and the ABB client to the rosbridge and query all control related services (MoveToJoints, MoveToFrame, etc.)