READ ME

The purpose of this package is to dynamically control a hex-copter drone mounted on a UR5 and measure the wrench forces produced by the drone using the ft300 sensor.

This diagram shows the relationships between the different components of this package.

Requirements

You will need to following to run all included code:

• Ubuntu 20.04

• ROS2 Foxy (Python)

  • Workspace
  • Package

• PX4 Workspaces:

  • PX4 Autopilot
  • MicroXRCE Agent
  • Sensors Combined workspace

• Plotjuggler for ROS2

Python Files

This package includes 5 python files: 3 base files and 2 launch files.

!!! Warning !!!

Please read motor_test_setup.md, ur5_ft300_sensor_setup.md, qos_setup.md, and Launch_setup.md before trying

Base files

These files are the ones you'll place them into your ROS2 package

px4_motor_test7.py

ur5_ft300_sensor_connect.py

ur5_ft300_data_filter.py

px4_motor_test7.py controls the percent throttle for a certain time. It requires the user to input 2 arguments. One argument takes 6 values representing the throttle of the 6 motors on the hex-copter. The other argument takes a single value that controls the time in seconds that the motor test will last. Read motor_test_setup.md for more details.

ur5_ft300_sensor_connect.py is used to connect ROS to the ft300 sensor on the UR5. It takes the the raw wrench data and publishes to the topic /ft300_data/raw. This code requires setup to work, read ur5_ft300_sensor_setup.md for instructions.

ur5_ft300_data_filter.py filters the raw wrench data from the topic /ft300_data/raw. It uses exponential and lowpass filters, publishing the data to the topics /ft300_data/exp_filtered and /ft300_data/lowpass_filtered respectively. Read ur5_ft300_sensor_setup.md for setup and tuning instructions.

RQT Graph:

This RQT graph shows the relationship between the nodes and topics created by the files above.

Launch Files

These files make it easier to conduct testing by requiring less terminals to run all the required files.

motor_test_and_bag_launch.py

ur5_ft300_data_launch.py

motor_test_and_bag_launch.py is used to launch px4_motor_test7.py and create a ROS bag. The ROS bag records 4 topics:/ft300_data/raw, /ft300_data/exp_filtered, /ft300_data/lowpass_filtered, and fmu/in/vehicle_command. This launch takes 3 arguments. One argument takes 6 values representing the throttle of the 6 motors on the hex-copter. Another argument takes a single value that controls the time in seconds that the motor test will last. The last argument takes a file path where the ROS bag data will be stored. Read Launch_setup.md for setup and configuration instructions. Also read qos_setup.md to correctly configure the qos settings, otherwise the ROS bag may not record the topic fmu/in/vehicle_command.

ur5_ft300_data_launch.py is used to launch ur5_ft300_sensor_connect.py and ur5_ft300_data_filter.py. Read Launch_setup.md for setup and configuration instructions.

UR5 FT300 Calibration

The following are instructions on how to calibrate the ft300 sensor:

1. Turn the UR5 on
2. Click Program Robot
3. Click Load Program
4. Open the sensors file (Should be in blue text)
5. Select the calib_tool.urp program
6. Click the play button at the bottem of the screen