1.0.0

Kawasaki-Robotics · Mar 29, 2019 · cbfa6ea · cbfa6ea
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diff --git a/README.md b/README.md
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+# khi_robot Package
+
+This repository provides ROS support for KHI robots.  
+ROS distribution `Kinetic` is supported.
+
+## How to Launch
+
+### 1. Launch Control Node
+
+Start khi_robot_control as:
+
+```
+roslaunch khi_robot_bringup ***_bringup.launch ip:=***
+```
+
+If you only want to view robot(not control), specify the argument 'viewer' to use viewer mode:
+
+```
+roslaunch khi_robot_bringup ***_bringup.launch ip:=*** viewer:=true
+```
+
+If you have no real robot, specify the argument 'simulation' to use loopback mode:
+
+```
+roslaunch khi_robot_bringup ***_bringup.launch simulation:=true
+```
+
+If you want to use gazebo simulation:
+
+```
+roslaunch ***_gazebo ***_world.launch
+```
+
+### 2. Launch MoveIt! Node
+
+Start a MoveIt! script as:
+
+```
+roslaunch ***_moveit_config ***_moveit.launch
+```
+
+Now you can see the rviz screen of MoveIt! and interact the robot with the GUI.
+
+## Connecting Real Robot
+
+Refer to `docs/ConnectingRealRobot.md`
+
+## Supported Robot
+
+ * duaro (currently simulation only)
+ * rs007l
+ * rs007n
+ * rs80n
+
+## Notes
+
+### About this software
+
+This software is experimental code. There are known issues and missing functionality.  
+The APIs are completely unstable and likely to change. Use in production systems is not recommended.
+
+### Coordinate
+
+KHI coordinate and ROS cordinate are different.
+
+```
+Origin of KHI coordinate is Robot Link1 origin.
+
+Origin of ROS coordinate is World origin.
+```
diff --git a/docs/ConnectingRealRobot.md b/docs/ConnectingRealRobot.md
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+# 1. Supported AS system
+
+## F Series
+
+Handling: Higher than ASF_01000000W
+
+## OpenAS Series
+
+Handling: Higher than ASE401010XX3S
+
+# 2. How to operate on real robot 
+
+## 2-1. Preparation
+
+Make sure that the robot controller used for real-time control satisfies the following conditions.
+
+* The controller is connected with a robot and ready to operate.
+* Nobody is inside the safety fence. 
+* The controller is in [REPEAT] mode. 
+* TEACH LOCK on the Teach pendant is switched to OFF.
+* Robot is not on Hold status.
+* No error.
+* The controller is connected to an Ubuntu PC with Ethernet cable and both are within the same network subnet.
+
+## 2-2. Start real-time control
+
+Execute the following command on the ROS running PC to start the real-time control at an administrate level of root.  
+
+(e.g.)RS007N:
+```
+roslaunch khi_robot_bringup rs007n_bringup.launch ip:=[Controller’s IP address]
+```
+
+When the real-time control process is started, all axes of the robot moves to 0 positions. (Figure 4)
+
+When the real-time control process is ready to go, the following messages will be displayed by the process.
+```
+[KhiRobotKrnxDriver] State 0: ACTIVATING -> ACTIVE
+```
+
+Once the above messages is confirmed, you are able to start real-time control of the robot from the operation interface of “rviz” or the python’s MoveIt! Commander. 
+During the real-time control, the display on the Teach pendant will show the figure below.
+
+![START Display on TP](start-display-on-tp.png)]
+
+## 2-3. Terminate the real-time control
+
+Press “Ctrl+C” to end the real-time control. 
+Ending process stops the robot controller and turns it to HOLD state. The display on the Teach pendant will show the figure below.
+
+![END Display on TP](end-display-on-tp.png)]
+
+# 3. Driver State
+
+To control robot controller on ROS, the drivere has control states.
+
+![Driver State](driver-state.png)
+
+```
+0:  "INIT"            - Driver init state.
+1:  "CONNECTING"      - Driver is now connecting to Robot Controller.
+2:  "CONNECTED"       - Driver is connected to Robot Controller, but cannot control Robot Arm.
+3:  "ACTIVATING"      - Driver is now activating Robot Arm.
+4:  "ACTIVE"          - Driver can control Robot Arm.
+5:  "DEACTIVATING"    - Driver is now deactivating Robot Arm.
+6:  "DISCONNECTING"   - Driver is now disconnecting to Robot Controller.
+7:  "DISCONNECTED"    - Driver is disconnected to Robot Controller.
+8:  "ERROR"           - Driver halted due to ERROR.
+9:  "RESTART"         - Driver accepts restart instruction.
+10: "QUIT"            - Driver accepts quit instruction.
+```
+
+You can get this status by Command Service "get_status".
+
+
+# 4. Command Service
+
+Service "khi_robot_command_service" is available.
+
+Service format is below...
+```
+string type
+string cmd
+---
+int32 driver_ret
+int32 as_ret
+string cmd_ret
+```
+
+Command format is below...
+
+## Execute AS Language Command
+```
+string type -> "as"
+string cmd -> AS Language Command
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> Response of AS Language Command
+```
+
+## Get Signal Status of [NUM]
+```
+string type-> "driver"
+string cmd -> "get_signal [NUM]"
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> "-1"(ON) or "0"(OFF)
+```
+[NUM] range (depended on AS system setting)
+```
+Output: 1~512
+Input: 1001~1512
+Internal: 2001~2512
+```
+
+## Set Output Signal Status of [NUM]
+```
+string type -> "driver"
+string cmd -> "set_signal [NUM], ..."
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> NOT USED
+```
+[NUM] range (depended on AS system setting)
+```
+Output: -1~-512, 1~512
+Internal: -2001~-2512, 2001~2512
+(Positive value indicates ON state, and negative value does OFF state.)
+```
+
+## Get Driver Status
+```
+string type -> "driver"
+string cmd -> "get_status"
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> Driver Status
+```
+
+## Restart Driver when its status is ERROR
+```
+string type -> "driver"
+string cmd -> "restart"
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> NOT USED
+```
+
+## Quit Driver
+```
+string type -> "driver"
+string cmd -> "quit"
+---
+int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
+int32 as_ret -> AS return code. Refer AS manual.
+string cmd_ret -> NOT USED
+```
+
+# 5. Error and Troubleshooting
+
+All of the errors happened during ROS control process will be sent as a message in Error level.
+Frequent error messages and troubleshooting are as shown in the table below. 
+
+|Error message|Troubleshooting|
+|---|---|
+|ROS:%s does not match AS:%s|Match the robot model on ROS and robot controller.|
+|Please change Robot Controller's TEACH/REPEAT to REPEAT|Switch the TEACH/REPEAT mode of the robot controller to REPEAT.|
+|Please change Robot Controller's RUN/HOLD to RUN|Switch the RUN/HOLD of the robot controller to RUN.|
+|Please change Robot Controller's TEACH LOCK to OFF|Set the TEACH LOCK on the robot controller to OFF.|
+|Please change Robot Controller's EMERGENCY to OFF|Release the EMERGENCY button.|
+|ERROR [cont_no]: rno:[robot_no] code:[as_error_code]|Error occurred during the real-time control.<br>Check the error code “as_error_code” of the robot controller and release the error by refering to the [AS Language Reference Manual].|
+|RTC terminated %d: rno:%d|Real-time control of the robot controller is terminated. Restart the “khi_robot_control”.|
+|[KhiKrnxDriver] %s returned -0x%X|API %s of KRNX returned the error code -0x%X. Refer to the error code of the KRNX API and release the error.|
+
+
+Error code of KRNX API is defined in “khi_robot/khi_robot_control/include/khi_robot_control/krnx.h”. Description and Value of the error codes are shown in the table below. (Table 2)
+
+|Macro Definition|Description|Value|
+|---|---|---|
+|KRNX_NOERROR|No Error|(0x0000)|
+|KRNX_E_BADARGS|Invalid Argument|(-0x1000)|
+|KRNX_E_INTERNAL|Internal Error|(-0x1001)|
+|KRNX_E_NOTSUPPORTED|Not Supported API |(-0x1002)|
+|KRNX_E_TIMEOUT|Timeout|(-0x1003)|
+|KRNX_E_AUXNOTREADY|AUX Monitor Not Ready|(-0x1004)|
+|KRNX_E_FOPENFAIL|File Open Fail|(-0x1005)|
+|KRNX_E_FILENOTREADY|File Not Exist|(-0x1006)|
+|KRNX_E_MATRIX|Matrix Calculation Error|(-0x1007)|
+|KRNX_E_OUTOFRANGE|Inverse Conversion Error|(-0x1008)|
+|KRNX_E_CANNOTCAL|Inverse Jacobian Error|(-0x1009)|
+|KRNX_E_COMPDATA|RTC Error|(-0x100a)|
+|KRNX_E_BADUSERID|Bad User ID|(-0x100c)|
+|KRNX_E_NULLRESP|Data Not Received|(-0x100d)|
+|KRNX_E_LOSTPROMPT|Timeout for Prompt Receive|(-0x100e)|
+|KRNX_E_BUFSND|Communication Send Error|(-0x1010)|
+|KRNX_E_BUFRCV|Communication Receive Error|(-0x1011)|
+|KRNX_E_BUFTMO|Communication Timeout|(-0x1012)|
+|KRNX_E_ASERROR|AS Error|(-0x1020)|
+|KRNX_E_NOROBOT|No Robot Setting|(-0x1021)|
+|KRNX_E_SOCK|Socket Create Error|(-0x2000)|
+|KRNX_E_NOHOST|Bad Hostname|(-0x2001)|
+|KRNX_E_IOCTLSOCK|Socket Setting Error|(-0x2002)|
+|KRNX_E_SOCKWRITE|Socket Write Error|(-0x2003)|
+|KRNX_E_SOCKREAD|Socket Read Error|(-0x2004)|
+|KRNX_E_NODATA|No Socket Data|(-0x2005)|
+|KRNX_E_INVALIDPORT|Invalid Port Number|(-0x2006)|
+|KRNX_E_CONNECT|Socket Connect Fail|(-0x2007)|
+|KRNX_E_CANTLOGIN|Login Fail|(-0x2008)|
+|KRNX_E_ALREADYOPENED|Socket Already Used|(-0x2009)|
+|KRNX_E_UNEXPECTED|Received Data Error|(-0x2010)|
+|KRNX_E_KINENOTREADY|Kinematics Not Initialized|(-0x2011)|
+|KRNX_E_ASDELAYED|Communication Sync Error|(-0x2012)|
+|KRNX_E_BUFEMPTY|Communication Buffer Error|(-0x2013)
+|KRNX_E_BUFNO|Invalid Buffer Number|(-0x2014)
+|KRNX_E_BUFDATANUM|Send Data Error|(-0x2015)
+|KRNX_E_RT_INTERNAL|RT Communication Internal Error|(-0x2100)
+|KRNX_E_RT_CONNECT|RT Communication Connect Error|(-0x2101)|
+|KRNX_E_RT_TIMEOUT|RT Communication Timeout|(-0x2102)|
+|KRNX_E_RT_NOTCONNECT|RT Communication Connect Error|(-0x2103)|
+|KRNX_E_RT_SEND|RT Communication Send Error|(-0x2104)|
+|KRNX_E_PCASALREADYRUNNING|PC-AS Already Running|(-0x2200)|
+|KRNX_E_TOOMANYPROC|Too Many Process|(-0x2201)|
+|KRNX_E_INVALIDFILENAME|Invalid File Name|(-0x2202)|
+|KRNX_E_ILLCONTNO|Invalid Controller Number|(-0x2203)|
+|KRNX_E_UNDEFF|Undefined Error|(-0xFFFF)|
+
+# 6. Precausions
+
+* Make sure to use realtime kernel for Ubuntu 16.04.
+* When a robot controller is in the real-time control mode, its state is same as the REPEAT mode. Therefore make sure to the safety issues when the robot controller is in real-time control mode.    
+* Never make any changes on the sources of the “khi_robot” package.
+* Refer to the Documents and community of the MoveIt! for more details on motion/path planning and how to calculate command value.   
diff --git a/docs/driver-state.png b/docs/driver-state.png
diff --git a/docs/end-display-on-tp.png b/docs/end-display-on-tp.png
diff --git a/docs/start-display-on-tp.png b/docs/start-display-on-tp.png
diff --git a/duaro_description/CHANGELOG.rst b/duaro_description/CHANGELOG.rst
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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package duaro_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2019-03-28)
+------------------
+* Refactoring
+* duAro URDF modification
+* Contributors: nakamichi_d, matsui_hiro
+
+0.9.4 (2019-01-25)
+------------------
+
+0.9.3 (2019-01-21)
+------------------
+
+0.9.2 (2018-12-27)
+------------------
+* RESTART function
+* KHI Command service
+* duAro URDF modification
+* RS080N
+* Unifying RS series URDF/Gazebo into rs_description, rs_gazebo
+* Modification of ACTIVATING state
+* Modification of QUIT state
+* Modification of state definition
+* Changing start position "ALL 0 degree" to "Current degree position"
+* Contributors: nakamichi_d