ROS-Industrial Basic Developer’s
Training Class
Southwest Research Institute
1
Session 2:
ROS Basics Continued
Southwest Research Institute
2
Outline
• Services
• Actions
• Launch Files
• Parameters
3
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
4
Services
5
Services : Overview
Services are like Function Calls
Client Server
Request
Joint Pos: [J1, J2, ...]
Forward
My Application
Kinematics
Response
ToolPos: [X, Y, Z, ...]
6
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
7
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
12
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
13
Actions
14
Actions : Overview
Actions manage Long-Running Tasks
Client My Application
Dest Pos
Curr Pos
Feedback
Success
Cancel
Goal
Result
Execute Motion
Server
Robot Motion
15
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
16
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
18
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
31
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
32
Parameters
33
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
34
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
35
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
37
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
39
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”);
40
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
41
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
42
ROS Param Practical Examples
• Let’s see what parameters the
UR5 driver uses:
– Prefix
– robot_ip_address
– max_velocity
– servoj_time
– Etc…
43
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
44
Review/Q&A
Session 1 Session 2
Intro to ROS Services
Installing ROS/Packages Actions
Packages Launch Files
Nodes Parameters
Messages/Topics
45
