ROS-Industrial Basic Developer’s

Training Class

Southwest Research Institute

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 Session 2:
ROS Basics Continued

Southwest Research Institute

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 Outline

• Services
• Actions
• Launch Files
• Parameters

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 Day 1 Progression

 Install ROS ROS Resource

 Create Workspace Package
 Add “resources”
 Create Package
Catkin
 Create Node
Workspace
 Basic ROS Node
 Interact with other nodes
 Messages
Services My Package

 Run Node Node

 rosrun
 roslaunch

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Services

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 Services : Overview

Services are like Function Calls

Client Server
Request
Joint Pos: [J1, J2, ...]

Forward
My Application
Kinematics
Response
ToolPos: [X, Y, Z, ...]

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 Services: Details

• Each Service is made up of 2 components:

– Request : sent by client, received by server
– Response : generated by server, sent to client

• Call to service blocks in client

– Code will wait for service call to complete
– Separate connection for each service call

• Typical Uses:
– Algorithms: kinematics, perception
– Closed-Loop Commands: move-to-position, open gripper

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 Services: Syntax
• Service definition
– Defines Request and Response data types
• Either/both data type(s) may be empty. Always receive “completed” handshake.
– Auto-generates C++ Class files (.h/.cpp), Python, etc.

LocatePart.srv
Comment #Locate Part
Request Data
string base_frame

Divider ---

Response Data geometry_msgs/Pose pose

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 “Real World” – Services

• Use rqt_srv / rqt_msg to view:

– moveit_msgs/GetPositionIK
– roscpp/SetLoggerLevel
– moveit_msgs/GetMotionPlan

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 Services: Syntax
• Service Server
– Defines associated Callback Function
– Advertises available service (Name, Data Type)

Callback Function Request Data (IN) Response Data (OUT)

bool findPart(LocatePart::Request &req, LocatePart::Response &res) {

res.pose = lookup_pose(req.base_frame);
return true;
}

ros::ServiceServer service = n.advertiseService(“find_box", findPart);

Server Object Service Name Callback Ref

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 Services: Syntax
• Service Client
– Connects to specific Service (Name / Data Type)
– Fills in Request data
– Calls Service

Client Object Service Type Service Name

ros::NodeHandle nh;
ros::ServiceClient client = nh.serviceClient<LocatePart>(“find_box");

LocatePart srv; Service Data

srv.request.base_frame = “world”; includes both Request and Response
client.call(srv); Call Service
ROS_INFO_STREAM(“Response: “ << srv.response);

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 Exercise 2.0

Exercise 2.0
Creating and Using a Service
fake_ar_pub myworkcell_node

LocalizePart

vision_node
descartes_node
?
myworkcell_support

myworkcell_moveit_cfg ur5_driver

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 Day 1 Progression

 Install ROS ROS Resource

 Create Workspace Package
 Add “resources”
 Create Package
Catkin
 Create Node
Workspace
 Basic ROS Node
 Interact with other nodes
 Messages
 Services My Package

 Run Node Node

 rosrun
 roslaunch

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Actions

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 Actions : Overview

Actions manage Long-Running Tasks

Client My Application
Dest Pos

Curr Pos
Feedback

Success
Cancel
Goal

Result
Execute Motion
Server
Robot Motion

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 Actions: Detail

• Each action is made up of 3 components:

– Goal, sent by client, received by server
– Result, generated by server, sent to client
– Feedback, generated by server

• Non-blocking in client
– Can monitor feedback or cancel before completion

• Typical Uses:
– “Long” Tasks: Robot Motion, Path Planning
– Complex Sequences: Pick Up Box, Sort Widgets

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 Actions: Syntax
• Action definition
– Defines Goal, Feedback and Result data types
• Any data type(s) may be empty. Always receive handshakes.
– Auto-generates C++ Class files (.h/.cpp), Python, etc.

FollowJointTrajectory.action
# Command Robot Motion
Goal Data traj_msgs\JointTrajectory trajectory
---
int32 error_code
Result Data
string error_string
---
uint8 status
Feedback Data
traj_msgs\JointTrajectoryPoint actual
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 “Real World” – Actions
• FollowJointTrajectoryAction
– command/monitor robot trajectories
– use rqt_msg to view Goal, Result, Feedback

• Should be an Action…
– GetMotionPlan

• Should not be an Action…

– GripperCommandAction

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 Actions: Syntax
• Action Server
– Defines Execute Callback
– Periodically Publish Feedback
– Advertises available action (Name, Data Type)
Callback Function Goal Data (IN)

void executeCB(const JointTrajectoryGoalConstPtr &goal) {

loop {
Check for if (as_.isPreemptRequested() || !ros::ok())
Cancel as_.setPreempted();

Feedback as_.publishFeedback(…);
Action Name Callback Ref
}
Result as_.setSucceeded(result_);
}
SimpleActionServer<JointTrajectoryAction> as_ (“move_robot”, &executeCB);

Server Object
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 Actions: Syntax
• Action Client
– Connects to specific Action (Name / Data Type)
– Fills in Goal data
– Initiate Action / Waits for Result
Action Type Client Object Action Name

SimpleActionClient<JointTrajectoryAction> ac(“move_robot");

JointTrajectoryGoal goal;
Goal Data
goal.trajectory = <sequence of points>;

ac.sendGoal(goal); Initiate Action

ac.waitForResult(); Block Waiting

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 Exercise 2.1
Exercise 2.1
Creating and Using an Action
We’ll skip this exercise.
Work through it on your own time later, if desired.

Client calcFibonacci_client
seq: 0 1 1
Feedback

seq: 0 1 1 2 3
Cancel
order: 6

Result
Goal

Calculate Fibonacci Sequence

Server
calcFibonacci_server

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 Message vs. Service vs. Action

Type Strengths Weaknesses

Message •Good for most sensors •Messages can be dropped without

(streaming data) knowledge
•One - to - Many •Easy to overload system with too
many messages

Service •Knowledge of missed call •Blocks until completion

•Well-defined feedback •Connection typically re-established
for each service call (slows activity)

Action •Monitor long-running •Complicated

processes
•Handshaking (knowledge of
missed connection)

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Launch Files

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 Launch Files: Motivation

• ROS is a Distributed System

– often 10s of nodes, plus configuration data
– painful to start each node “manually”

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 Launch Files: Overview

Launch Files are like Startup Scripts

Nodes
Camera Driver
Launch File Load
Perception Image Processing

Motion Planner
Load Load
Robot Robot Robot Control
System

Parameter
Server
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 Launch Files: Overview

• Launch files automate system startup

• XML formatted script for running nodes and
setting parameters
• Ability to pull information from other packages
• Will automatically start/stop roscore

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 Launch Files: Notes

• Can launch other launch files

• Executed in order, without pause or wait*
* Parameters set to parameter server before nodes are launched
• Can accept arguments
• Can perform simple IF-THEN operations
• Supported parameter types:
– Bool, string, int, double, text file, binary file

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 Launch Files: Syntax (Basic)
• <launch> – Required outer tag
• <rosparam> or <param> – Set parameter values
– including load from file (YAML)
• <node> – start running a new node
• <include> – import another launch file
<launch>
<rosparam param=“/robot/ip_addr“>192.168.1.50</rosparam>

<param name="robot_description“ textfile="$(find robot_pkg)/urdf/robot.urdf"/>

<node name=“camera_1" pkg=“camera_aravis” type=“camnode" />

<node name=“camera_2" pkg=“camera_aravis“ type=“camnode“ />

<include file=“$(find robot_pkg)/launch/start_robot.launch” />

</launch>

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 Launch Files: Syntax (Adv.)
• <arg> – Pass a value into a launch file
• if= or unless= – Conditional branching
– extremely limited. True/False only (no comparisons).
• <group> – group commands, for if/unless or namespace
• <remap> – rename topics/services/etc.
<launch>
<arg name="robot" default="sia20" />
<arg name="show_rviz" default="true" />
<group ns="robot" >
<include file="$(find lesson)/launch/load_$(arg robot)_data.launch" />
<remap from=“joint_trajectory_action” to=“command” />
</group>
<node name="rviz" pkg="rviz" type="rviz“ if="$(arg show_rviz)“ />
</launch>

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 “Real World” – Launch Files

• Explore a typical robot launch file

– motoman_sia20d_moveit_cfg
• moveit_planning_exec.launch
<launch>
<rosparam command="load" file="$(find motoman_support)/config/joint_names.yaml"/>
<arg name="sim" default="true" />
<arg name="robot_ip" unless="$(arg sim)" />
<arg name="controller" unless="$(arg sim)" />
<include file="$(find motoman_sia20d_moveit_config)/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<group if="$(arg sim)">
<include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
</group>
<group unless="$(arg sim)">
<include file="$(find motoman_sia20d_support)/launch/robot_interface_streaming_sia20d.launch" >
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="controller" value="$(arg controller)"/>
</include>
</group>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<include file="$(find motoman_sia20d_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>

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 Exercise 2.2

Exercise 2.2 - Launch Files

fake_ar_pub myworkcell_node

vision_node
descartes_node

myworkcell_support

myworkcell_moveit_cfg ur5_driver

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 Day 1 Progression

 Install ROS ROS Resource

 Create Workspace Package
 Add “resources”
 Create Package
Catkin
 Create Node
Workspace
 Basic ROS Node
 Interact with other nodes
 Messages
 Services My Package

 Run Node Node

 rosrun
 roslaunch

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Parameters

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 Parameters: Overview

Parameters are like Global Data

Parameter Server

\debug
\robot_1\ipAddr: “192.168.1.21” Node
\robot_1\ipAddr
\robot_2\ipAddr
\home_pos\x
\home_pos\y
\home_pos\z \home_pos: [X, Y, Z]
Config File

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 ROS Parameters
• Typically configuration-type values
– robot kinematics
– workcell description
– algorithm limits / tuning

• Accessed through the Parameter Server.

– Typically handled by roscore

roscore

ROS Parameter rosout

Master Server logging

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 Setting Parameters

• Can set from:

manipulator_kinematics:
solver: kdl_plugin/KDLKinematics
– YAML Files search_resolution: 0.005
timeout: 0.005
attempts: 3

– Command Line
rosrun my_pkg load_robot _ip:=“192.168.1.21”
rosparam set “/debug” true

– Programs
nh.setParam(“name”, “left”);

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 Parameter Datatypes
• Native Types
– int, real, boolean, string
• Lists (vectors)
– can be mixed type: [1, str, 3.14159]
– but typically of single type: [1.1, 1.2, 1.3]
• Dictionaries (structures)
– translated to “folder” hierarchy on server

box
.weight /box/weight
.center /box/center/x
.x /box/center/y
.y

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 Namespaces

• Folder Hierarchy allows Separation:

– Separate nodes can co-exist, in different “namespaces”
– relative vs. absolute name references
Parameter Server
/left_camera

camera_node ipAddr, exposure /left_camera/ipAddr

/left_camera/exposure

/debug
/rt_camera
/rt_camera/ipAddr
camera_node ipAddr, exposure /rt_camera/exposure

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 Parameter Commands

• rosparam
– rosparam set <key> <value>
• Set parameters
– rosparam get <key>
• Get parameters
– rosparam delete <key>
• Delete parameters
– rosparam list
• List all parameters currently set
– rosparam load <filename>
[<namespace>]
• Load parameters from file

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 Parameters: C++ API

• Accessed through ros::NodeHandle object

– also sets default Namespace for access
• Relative namespace:
ros::NodeHandle relative;
relative.getParam(“test”);
“/<ns>/test”

• Fixed namespace:
ros::NodeHandle fixed(“/myApp”);
“/myApp/test”
fixed.getParam(“test”);

• Private namespace:
ros::NodeHandle priv(“~”);
“/myNode/test”
priv.getParam(“test”);

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 Parameters: C++ API (cont’d)

• NodeHandle object methods

– nh.hasParam(key)
Returns true if parameter exists
– nh.getParam(key, &value)
Gets value, returns T/F if exists.
– nh.param(key, &value, default)
Get value (or default, if doesn’t exist)
– nh.setParam(key, value)
Sets value
– nh.deleteParam(key)
Deletes parameter

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 Dynamic reconfigure

• Parameters must be read explicitly by nodes

– no on-the-fly updating
– typically read only when node first started
• ROS package dynamic_reconfigure can help
– nodes can register callbacks to trigger on change
– outside the scope of this class, but useful

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 ROS Param Practical Examples

• Let’s see what parameters the

UR5 driver uses:
– Prefix
– robot_ip_address
– max_velocity
– servoj_time
– Etc…

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 Exercise 2.3

Exercise 2.3
Param: base_frame
ROS Parameters
fake_ar_pub myworkcell_node

vision_node
descartes_node

myworkcell_support

myworkcell_moveit_cfg ur5_driver

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 Review/Q&A

Session 1 Session 2
Intro to ROS Services
Installing ROS/Packages Actions
Packages Launch Files
Nodes Parameters
Messages/Topics

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