Niryo robot poses handlers

This package is in charge of dealing with transforms, workspace, grips and trajectories.

It belongs to the ROS namespace: /niryo_robot_poses_handlers.

Workspaces

A workspace is defined by 4 markers that form a rectangle. With the help of the robot’s calibration tip, the marker positions are learned. The camera returns poses (x, y, yaw) relative to the workspace. We can then infer the absolute object pose in robot coordinates.

Grips

When we know the object pose in robot coordinates, we can’t directly send this pose to the robot because we specify the target pose of the tool_link and not of the actual TCP (tool center point). Therefore we introduced the notion of grip. Each end effector has its own grip that specifies where to place the robot with respect to the object.

Currently, the notion of grip is not part of the python/tcp/blockly interface because it would add an extra layer of complexity that is not really necessary for the moment.

Therefore we have a default grip for all tools that is selected automatically based on the current tool id. However, everything is ready if you want to define custom grips, e.g. for custom tools or for custom grip positions.

The vision pick loop

1. The camera detects objects relative to markers and sends x_rel, y_rel, yaw_rel.

2. The object is placed on the workspace, revealing the object pose in robot coordinates x, y, z, roll, pitch, yaw.

3. The grip is applied on the absolute object pose and gives the pose the robot should move to.

Dynamic frames

Note

This part is still in progress.

Poses & trajectories

Note

This part is still in progress.

Package Documentation

ROS topics

Publishers

Topic Name	Type	Description
/niryo_robot_poses_handlers/dynamic_frame_list	niryo_robot_msgs/BasicObjectArray	List of saved dynamic frames
/niryo_robot_poses_handlers/pose_list	niryo_robot_msgs/BasicObjectArray	List of saved relative poses
/niryo_robot_poses_handlers/relative_pose	geometry_msgs/PoseStamped	List of saved poses with x axis forward (deprecated)
/niryo_robot_poses_handlers/relative_pose_v2	geometry_msgs/PoseStamped	List of saved relative poses with z axis forward
/niryo_robot_poses_handlers/workspace_list	niryo_robot_msgs/BasicObjectArray	List of saved workspaces name & description
/rosout	rosgraph_msgs/Log	N/A
/tf	tf2_msgs/TFMessage	N/A

Subscribers

Topic Name	Type	Description
/niryo_robot/robot_state_v2	niryo_robot_msgs/RobotState	Publish the robot state (TCP pose with z-axis forward and TCP speed)
/niryo_robot_tools_commander/current_id	std_msgs/Int32	Publish the current detected tool ID
/niryo_robot_tools_commander/tcp	niryo_robot_tools_commander/TCP	Publish the TCP (Tool Center Point) state (enabled/disabled) and transformation between the tool_link and the TCP. The end-effector is considered with the x-axis forward (deprecated)

ROS Services

Service Name	Type	Description
/niryo_robot_poses_handlers/get_dynamic_frame	niryo_robot_poses_handlers/GetDynamicFrame	Get a given saved dynamic frame
/niryo_robot_poses_handlers/get_dynamic_frame_list	niryo_robot_msgs/GetNameDescriptionList	Get the list of saved dynamic frames
/niryo_robot_poses_handlers/get_loggers	roscpp/GetLoggers	N/A
/niryo_robot_poses_handlers/get_pose	niryo_robot_poses_handlers/GetPose	Get a given saved pose
/niryo_robot_poses_handlers/get_pose_list	niryo_robot_msgs/GetNameDescriptionList	Get the list of saved poses name & description
/niryo_robot_poses_handlers/get_target_pose	niryo_robot_poses_handlers/GetTargetPose	Get the robot pose with x axis forward that can be used to grab an object which is positioned relative to the given workspace (deprecated)
/niryo_robot_poses_handlers/get_target_pose_v2	niryo_robot_poses_handlers/GetTargetPose	Get the robot pose with é axis forward that can be used to grab an object which is positioned relative to the given workspace
/niryo_robot_poses_handlers/get_transform_pose	niryo_robot_poses_handlers/GetTransformPose	Get transform the between 2 known frames
/niryo_robot_poses_handlers/get_workspace_list	niryo_robot_msgs/GetNameDescriptionList	Get the list of saved workspaces name & description
/niryo_robot_poses_handlers/get_workspace_matrix_poses	niryo_robot_poses_handlers/GetWorkspaceMatrixPoses	Get the 4 corners of a given workspace in Point/Quaternion formatrelative to the robot frame
/niryo_robot_poses_handlers/get_workspace_points	niryo_robot_poses_handlers/GetWorkspacePoints	Get the 4 corners of a given workspace in Point formatrelative to the robot frame
/niryo_robot_poses_handlers/get_workspace_poses	niryo_robot_poses_handlers/GetWorkspaceRobotPoses	Get the 4 corners of a given workspace in Pose format relative to the robot frame
/niryo_robot_poses_handlers/get_workspace_ratio	niryo_robot_poses_handlers/GetWorkspaceRatio	Get workspace’s ratio
/niryo_robot_poses_handlers/manage_dynamic_frame	niryo_robot_poses_handlers/ManageDynamicFrame	Save/Edit/Delete a dynamic frame
/niryo_robot_poses_handlers/manage_pose	niryo_robot_poses_handlers/ManagePose	Save/Delete a Pose
/niryo_robot_poses_handlers/manage_workspace	niryo_robot_poses_handlers/ManageWorkspace	Save/Delete a workspace
/niryo_robot_poses_handlers/set_logger_level	roscpp/SetLoggerLevel	N/A
/niryo_robot_poses_handlers/set_relative_transform_frame	niryo_robot_msgs/SetString	Set the relative transform frame
/niryo_robot_poses_handlers/tf2_frames	tf2_msgs/FrameGraph	N/A

ROS Parameters

Parameter Name	Default value	Simulation value	Unit	Description
/niryo_robot_poses_handlers/dynamic_frame_dir	$(env HOME)/niryo_robot_saved_files/niryo_robot_dynamic_frame/	$(env HOME)/niryo_robot_saved_files/niryo_robot_dynamic_frame/	string	Path to the dynamic frames storage folder
/niryo_robot_poses_handlers/gazebo_workspaces/gazebo_1	[[0.337, 0.087, 0.001], [0.337, -0.087, 0.001], [0.163, -0.087, 0.001], [0.163, 0.087, 0.001]]	N/A	N/A	N/A
/niryo_robot_poses_handlers/gazebo_workspaces/gazebo_2	[[-0.0915, 0.3415, 0.001], [0.0915, 0.3415, 0.001], [0.0915, 0.1585, 0.001], [-0.0915, 0.1585, 0.001]]	N/A	N/A	N/A
/niryo_robot_poses_handlers/grip_dir	/root/catkin_ws/install/release/share/niryo_robot_poses_handlers/grips/ned2/	N/A	string	Path to the Grip storage folder
/niryo_robot_poses_handlers/initialized	True	N/A	N/A	N/A
/niryo_robot_poses_handlers/log_level	INFO	N/A	N/A	N/A
/niryo_robot_poses_handlers/poses_dir	$(env HOME)/niryo_robot_saved_files/niryo_robot_poses/	$(env HOME)/niryo_robot_saved_files/niryo_robot_poses/	string	Path to the Poses storage folder
/niryo_robot_poses_handlers/trajectories_dir	$(env HOME)/niryo_robot_saved_files/niryo_robot_trajectories/	$(env HOME)/niryo_robot_saved_files/niryo_robot_trajectories/	string	Path to the trajectories storage folder
/niryo_robot_poses_handlers/workspace_dir	$(env HOME)/niryo_robot_saved_files/niryo_robot_workspaces/	$(env HOME)/niryo_robot_saved_files/niryo_robot_workspaces/	string	Path to the Workspace storage folder

ROS Action

Namespace: None