aegis_ros

A complete suite of ROS 2 packages for the Aegis UR5e cobot station.

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List of packages

• aegis: The meta-package for referencing all project dependencies.
• aegis_control: Launch files dedicated to the hardware drivers based on the ros2_control framework.
• aegis_bringup: The main launch file.
• aegis_description: The description and configuration files of the Aegis robot station.
• aegis_director: The "main" function for the robot workflow.
• aegis_grpc: Inter-process communication bridge between ROS 2 and gRPC.
• aegis_moveit_config: The configuration to run the MoveIt 2 framework.
• aegis_utils: Various utility functions and tools.

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Quick start

Create workspace

mkdir -p ~/ceai_ws
cd ~/ceai_ws
git clone -b humble-devel https://github.com/AGH-CEAI/aegis_ros.git src/aegis_ros

Containers

Tip

Check the aegis_docker repository for the Dockerfile.

Docker

cd ~/ceai_ws/src/aegis_docker
docker build . -t ceai/aegis_dev:latest
#TODO add more examples

Podman & Toolbx

cd ~/ceai_ws/src/aegis_docker
podman build . -t ceai/aegis_dev:latest
toolbox create --image localhost/ceai/aegis_dev:latest
toolbox enter aegis_dev-latest

Resolving dependencies and build

source /opt/ros/humble/setup.bash
rosdep init

cd ~/ceai_ws
vcs import src < src/aegis_ros/aegis/aegis.repos
rosdep update --rosdistro $ROS_DISTRO
rosdep install --from-paths src -y -i
colcon build --symlink-install
source ./install/local_setup.bash

Driver installation - Basler cameras (Manually)

Due to licence conditions each user must download drivers for basler cameras directly from their page. Download from pylon Camera Software Suite pylon and blaze and install packages inside the container. See more here. Extract downloaded files and execute:

sudo apt update
sudo apt-get install -y libxcb-cursor-dev
sudo apt-get install ./pylon_*.deb ./codemeter*.deb
sudo apt-get install ./pylon-supplementary-package-for-blaze-*.deb
echo $PYLON_ROOT

You should see /opt/pylon in terminal. Build project and ignore warnings that may appear.

Run

See the aegis_bringup package.

Camera calibration

See the aegis_utils package.

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Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the pre-commit. As a faster alternative it is suggested to use prek. Please make sure to enable its hooks:

# In case of pre-commit
pre-commit install
# In case of prek
prek install

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License

This repository is licensed under the Apache 2.0, see LICENSE for details.