Quick links: compas docs | compas_fab docs | compas_rrc_docs | rrc github repository | overview compas extensions | urdf and moveit tutorials | troubleshooting
- 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 version6.12.00
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.
Setup the abb_fabrication_control for dependencies and libraries
- Create a workspace directory: C:\Users\YOUR_USERNAME\workspace
- Open Github Desktop and clone the repository this repository into you workspace folder.
- 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.
- 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
- right-click on the file
- Running Docker images: Run the docker image for the moveit simulation
- 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.)
- 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
- right-click on the file
- Running Docker images: Run the docker image for the robot control
- 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.)