ChonkUR L Rail-E

Descriptions, deployments, tooling, and MoveIt configuration for the ChonkUR L Rail-E robot system, part of the iMETRO Facility at NASA's Johnson Space Center. This project is intended for use in one of ER4's managed workspaces (such as the in the clr_ws).

The hardware includes the ChonkUR robot mounted on an Ewellix Lift and Vention Linear Rail system.

Usage

The project includes a kinematic simulation for the robot. Launching the controllers and hardware interface is done using the provided launch files.

To launch the kinematic simulation:

ros2 launch clr_deploy clr_sim.launch.py

# Or to include the environment mockups
ros2 launch clr_deploy clr_sim.launch.py model_env:=true

For hardware we run the UR pendantless, which is a two part launch process:

# To launch the hardware robot, first deploy the UR tools to activate the dashboard client
# in its own long-lived shell.
ros2 launch chonkur_deploy ur_tools.launch.py

# Start the hardware interfaces for the rail, lift, and ChonkUR.
ros2 launch clr_deploy clr_hw.launch.py

A MoveIt RViz widget can then be launched with:

ros2 launch clr_moveit_config clr_moveit.launch.py

# Or to include the environment mockups
ros2 launch clr_moveit_config clr_moveit.launch.py model_env:=true

A MuJoCo simulation including the environment is available in clr_mujoco_config. Note that it requires the MuJoCo ROS 2 simulation hardware interface to run.

# Start the mujoco ros2 control-based simulation
ros2 launch clr_mujoco_config clr_mujoco.launch.py

# In another shell launch the moveit interface with sim parameters set
ros2 launch clr_moveit_config clr_moveit.launch.py include_mockups_in_description:=true use_sim_time:=true