This guide will show you how to setup and operate the motor_test_and_bag_launch.py and ur5_ft300_data_launch.py files.
Before going through this guide, make you have completed the motor_test_setup.md, ur5_ft300_sensor_setup.md, and qos_setup.md guides.
If you haven't finished those guides, none of the code in this guide will work.
Unlike regular ROS 2 files, launch files need to be put into a separate folder location outside of your package, at the root of your workspace. Here I will show you how to create the launch folder.
In the terminal, navigate to the root of your ROS 2 workspace and input the following command:
mkdir launch
This command will create a folder named launch located at the root of your ROS 2 workspace.
After you created this folder, place both motor_test_and_bag_launch.py and ur5_ft300_data_launch.py into it.
When you place motor_test_and_bag_launch.py and ur5_ft300_data_launch.py into your ROS2 workspace, you'll need to add lines to package.xml. Here I'll specify the lines of code that you need to add.
Add the following lines to your dependencies in package.xml:
<depend>rclpy</depend>
<exec_depend>ros2launch</exec_depend>
You probably don't need to add the rclpy dependency as it should already be there.
Your package file should look like this:
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>px4_stuff</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="user@todo.todo">user</maintainer>
<license>TODO: License declaration</license>
<depend>rclpy</depend>
<depend>px4_msgs</depend>
<depend>time</depend>
<depend>geometry_msgs</depend>
<depend>socket</depend>
<depend>scipy</depend>
<exec_depend>ros2launch</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
*Note: The dependencies below are needed to run the drone and ur5 code.
<depend>px4_msgs</depend>
<depend>time</depend>
<depend>geometry_msgs</depend>
<depend>socket</depend>
<depend>scipy</depend>
In the terminal, navigate to the root of your workspace and run the following command:
colcon build
Now the launch files are setup and ready to run, assuming you have all the other files setup already.
The ur5_ft300_data_launch.py file is used to run both the ur5_ft300_sensor_connect and ur5_ft300_data_filter files at the same time.
In the launch file, you'll have to modify the package name so that it can run the ur5_ft300_sensor_connect and ur5_ft300_data_filter code.
There are 2 lines that need to change. They are located in the return section of the file as shown here:
return LaunchDescription([
Node(
package = 'ur5_code',
executable = 'ur5_ft_sensor',
),
Node(
package = 'ur5_code',
executable='ur5_ft300_data_filter',
)
])
Change the package names for both of the nodes from ur5_code to the name of the package where the ur5_ft300_sensor_connect.py and ur5_ft300_data_filter.py files are stored.
For these changes to take effect, you'll need to build the workspace
In the terminal, navigate to the root of your workspace and run the following command:
colcon build
To run ur5_ft300_data_launch.py, you'll first need to use the terminal to navigate to the launch folder at the root of your ROS 2 workspace.
Once you are in the launch folder, input the following command:
ros2 launch ur5_ft300_data_launch.py
Both the ur5_ft300_sensor_connect and ur5_ft300_data_filter code should now be running
The motor_test_and_bag_launch.py file is used to run the px4_motor_test7.py and create a ROS bag that records data from the drone and UR5 ft300 sensor.
THIS CODE IS NOT SAFE TO FLY WITH
KILL SWITCH ONLY WORKS IF HELD DOWN WHILE RUNNING THIS CODE
In the launch file, you'll have to modify the package name so that it can run the px4_motor_test7.py code and create the ROS bag.
There are 2 sections that need modification, the motor test 7 launch and ROS bag command.
Starting on line 29 in motor_test_and_bag_launch.py you will see the following:
start_motor_test = ExecuteProcess(
cmd = [[
'ros2 ',
'run ',
'px4_stuff ',
'px4_motor_test7 '
'-m ',
m,
' -t ',
ti
]],
shell=True
)
Change the name of the package by replacing px4_stuff with the name of the package where the px4_motor_test7.py file is stored. REMEMBER TO LEAVE A SPACE AFTER THE NAME OF YOUR PACKAGE.
Starting on line 43 in motor_test_and_bag_launch.py you will see the following:
start_ros_bag = ExecuteProcess(
cmd = [[
'ros2 ',
'bag ',
'record ',
'-o ',
f,
' /ft300_data/raw /ft300_data/exp_filtered /ft300_data/lowpass_filtered '
'fmu/in/vehicle_command ',
'--qos-profile-overrides-path /home/jj/qos_settings/px4_reliability_override.yaml',
]],
shell=True
)
Change the path of the qos settings from /home/jj/qos_settings/px4_reliability_override.yaml to /home/YOUR_USERNAME/qos_settings/px4_reliability_override.yaml, replacing YOUR_USERNAME with the username of your computer.
For these changes to take effect, you'll need to build the workspace
In the terminal, navigate to the root of your workspace and run the following command:
colcon build
In addition to the regular ROS2 launch arguments, the this launch file requires that you pass arguments motor_thrust, test_time, and file_location.
The argument motors_thrust is what controls the throttle of the six motors. The argument takes 6 values separated by a comma. These six values represent the percent throttle of the 6 motors, which needs to be from 0 to 1.
An example of this argument is:
motor_thrust:='0.1,0.1,0.1,0.1,0.1,0.1'
The argument above is telling the motor test to run all 6 motors at 10% throttle.
motor_thrust default argument is 0,0,0,0,0,0. You can change this default value in line 16 of motor_test_and_bag_launch.py
The argument test_time controls how long the motor test will run. The argument takes a single values representing time in seconds.
An example of this argument is:
test_time:='3'
The argument above is telling the motor test to run for 3 seconds.
test_time default argument is 1.5. You can change this default value in line 21 of motor_test_and_bag_launch.py
The argument file_location controls where the data from the ROS bag will be located. The argument takes a file path in the form of a string.
An example of this argument is:
file_location:='/home/user/ur5_hex_copter_test1'
The argument above is telling the ROS bag to store the data collected into the folder ur5_hex_copter_test1.
file_location default argument is ~/ur5_hex_copter_data_store/test_default. You can change this default value in line 26 of motor_test_and_bag_launch.py
To run motor_test_and_bag_launch.py, you'll first need to use the terminal to navigate to the launch folder at the root of your ROS 2 workspace. Once you are in the launch folder, input the following commands:
ros2 launch ur5_ft300_data_launch.py
ros2 launch motor_test_and_bag_launch.py
*Note: You'll want to launch ur5_ft300_data_launch.py first in order for the ROS bag to capture data from the ft300 sensor.
An example of passing arguments with this launch file would be:
ros2 launch motor_test_and_bag_launch.py motor_thrust:='0.1,0.1,0.1,0.1,0.1,0.1' test_time:='3' file_location:='/home/user/ur5_hex_copter_test1'
The command above will run the all 6 motors at 10% for 3 seconds while logging UR5 ft300 and drone data and storing it in the folder ur5_hex_copter_test1.
*Note: You'll need to kill the launch code with crtl+c for the ROS bag to stop collecting data and publish the data to the specified folder.
To visualize the wrench data from the ROS bag you'll need plotjuggler.
In the terminal, input the following:
sudo snap install plotjuggler
Plotjuggler should now be installed. To run plotjuggler, input the following:
ros2 run plotjuggler plotjuggler
When you first run plotjuggler, it should look like this:
To import data from a ROS bag, click the button in the top left corner next to "Data". Then navigate to your ROS bag and double click the yaml file.
Here is an example:
*Note: This bag is from a test that ran all 6 motors at 100% for a minute
Original plotjuggler installation instructions here: https://index.ros.org/p/plotjuggler/