PM Robot Skills

A comprehensive ROS 2 package suite providing robotic manipulation and automation skills for the PM Robot system. This repository contains multiple skill packages that enable griping, placing, vision-based measurement, calibration, and laser-based frame correction capabilities.

Overview

The pm_robot_skills repository is composed of several integrated packages:

• pm_skills: Core manipulation skills including griping, placing, and laser-based frame correction
• pm_vision_skills: Vision-based measurement and frame correction using camera systems
• pm_robot_calibration: Comprehensive calibration tools for cameras, laser, grippers, and goniometers
• pm_skills_interfaces: ROS 2 service and message definitions for skill interfaces
• pm_launch_skills: Launch configuration files for easy system startup

Prerequisites

• ROS 2 (Humble or later recommended)
• Python 3.8+
• Dependencies:
  • pm_moveit_interfaces
  • assembly_manager_interfaces
  • pm_vision_interfaces
  • pm_msgs
  • assembly_scene_publisher
  • pm_vision_manager

Installation

1. Clone the repository into your ROS 2 workspace:

cd ~/ros2_ws/src
git clone https://github.com/your-repo/pm_robot_skills.git

2. Install dependencies (this has nt been tested):

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

3. Build the packages:

colcon build

4. Source the workspace:

source install/setup.bash

Quick Start

Launch the PM Robot Skills System

To launch all skill nodes together:

ros2 launch pm_launch_skills pm_skills.launch.py

This will start the following nodes:

• pm_vision_skills - Vision-based measurement and correction services
• pm_skills - Core manipulation and laser measurement services
• pm_robot_calibration - Calibration services

Available ROS 2 Services

pm_skills Node

Griping and Placement

• /pm_skills/force_grip_component (GripComponent)

  • Force-based gripping with iterative force sensing
  • Parameters: component_name (str), align_orientation (bool)
  • Returns: success (bool), message (str)

• /pm_skills/place_component (PlaceComponent)

  • Places a gripped component at target position
  • Parameters: align_orientation (bool), x/y/z_offset_um (int), rx/ry/rz_offset_deg (float)
  • Returns: success (bool), message (str)

• /pm_skills/release_component (EmptyWithSuccess)

  • Releases the currently gripped component
  • Returns: success (bool), message (str)

Vacuum Gripper Control

• /pm_skills/vacuum_gripper/vacuum_on (EmptyWithSuccess)

  • Activates the vacuum gripper
  • Returns: success (bool), message (str)

• /pm_skills/vacuum_gripper/vacuum_off (EmptyWithSuccess)

  • Deactivates the vacuum gripper
  • Returns: success (bool), message (str)

Laser-Based Measurements and Corrections

• /pm_skills/measure_with_laser (CorrectFrameLaser)

  • Measures frame position using laser sensor
  • Parameters: frame_name (str), use_iterative_sensing (bool), remeasure_after_correction (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

• /pm_skills/correct_frame_with_laser (CorrectFrameLaser)

  • Corrects frame position based on laser measurement
  • Parameters: frame_name (str), use_iterative_sensing (bool), remeasure_after_correction (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

Confocal Microscope Measurements

• /pm_skills/measure_frame_with_confocal_bottom (CorrectFrameLaser)

  • Measures frame using bottom confocal microscope
  • Parameters: frame_name (str), use_iterative_sensing (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

• /pm_skills/correct_frame_with_confocal_bottom (CorrectFrameLaser)

  • Corrects frame based on bottom confocal measurement
  • Parameters: frame_name (str), use_iterative_sensing (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

• /pm_skills/measure_frame_with_confocal_top (CorrectFrameLaser)

  • Measures frame using top confocal microscope
  • Parameters: frame_name (str), use_iterative_sensing (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

• /pm_skills/correct_frame_with_confocal_top (CorrectFrameLaser)

  • Corrects frame based on top confocal measurement
  • Parameters: frame_name (str), use_iterative_sensing (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

Goniometer Alignment

• /pm_skills/iterative_align_gonio_right (IterativeGonioAlign)

  • Iteratively aligns right goniometer to target orientation
  • Parameters: component_alignment_frame (str), target_alignment_frame (str), num_iterations (int), frames_to_measure (list[str])
  • Returns: success (bool), message (str)

• /pm_skills/iterative_align_gonio_left (IterativeGonioAlign)

  • Iteratively aligns left goniometer to target orientation
  • Parameters: component_alignment_frame (str), target_alignment_frame (str), num_iterations (int), frames_to_measure (list[str])
  • Returns: success (bool), message (str)

Sensor and Frame Checking

• /pm_skills/gripper_force_sensing (GripperForceMove)

  • Performs force-controlled movement with force sensing
  • Parameters: step_size (float), target_joints_xyz (list[float]), max_f_xyz (list[float])
  • Returns: success (bool), completed (bool), error (str)

• /pm_skills/check_frame_measureble_confocal_top (CheckFrameMeasurable)

  • Checks if a frame is measurable with top confocal microscope
  • Parameters: frame_name (str)
  • Returns: success (bool), is_measurable (bool)

• /pm_skills/check_frame_measureble_confocal_bottom (CheckFrameMeasurable)

  • Checks if a frame is measurable with bottom confocal microscope
  • Parameters: frame_name (str)
  • Returns: success (bool), is_measurable (bool)

• /pm_skills/check_frame_measureble_laser_top (CheckFrameMeasurable)

  • Checks if a frame is measurable with laser
  • Parameters: frame_name (str)
  • Returns: success (bool), is_measurable (bool)

pm_vision_skills Node

Vision-Based Measurements

• /pm_skills/vision_measure_frame (MeasureFrameVision)

  • Measures frame position using camera vision
  • Parameters: frame_name (str), vision_process_file_name (str)
  • Returns: success (bool), message (str), correction_values (Vector3)

• /pm_skills/vision_correct_frame (CorrectFrameVision)

  • Corrects frame based on vision measurement
  • Parameters: frame_name (str), use_iterative_sensing (bool)
  • Returns: success (bool), message (str), correction_values (Vector3)

Camera Frame Checking

• /pm_skills/check_frame_measureble_cam_top (CheckFrameMeasurable)

  • Checks if a frame is measurable with top camera
  • Parameters: frame_name (str)
  • Returns: success (bool), is_measurable (bool)

• /pm_skills/check_frame_measureble_cam_bottom (CheckFrameMeasurable)

  • Checks if a frame is measurable with bottom camera
  • Parameters: frame_name (str)
  • Returns: success (bool), is_measurable (bool)

pm_robot_calibration Node

Calibration Services

The calibration node provides comprehensive calibration services. Recommended calibration order:

1. /pm_robot_calibration/calibrate_cameras

   • Calibrate all camera systems

2. /pm_robot_calibration/calibrate_calibration_cube_to_cam_top

   • Calibrate calibration cube position relative to top camera

3. /pm_robot_calibration/calibrate_laser_on_calibration_cube

   • Calibrate laser position using calibration cube

4. /pm_robot_calibration/calibrate_confocal_top

   • Calibrate top confocal microscope

5. /pm_robot_calibration/calibrate_calibration_target_to_cam_bottom

   • Calibrate calibration target relative to bottom camera

6. /pm_robot_calibration/calibrate_confocal_bottom

   • Calibrate bottom confocal microscope

7. /pm_robot_calibration/calibrate_gonio_left_chuck

   • Calibrate left goniometer chuck

8. /pm_robot_calibration/calibrate_gonio_right_chuck

   • Calibrate right goniometer chuck

9. /pm_robot_calibration/calibrate_gripper

   • Calibrate gripper position and orientation

10. /pm_robot_calibration/calibrate_1K_dispenser

    • Calibrate 1K dispenser position

Package Structure

pm_robot_skills/
├── pm_skills/                          # Core manipulation skills
│   ├── pm_skills/
│   │   ├── pm_skills.py               # Main skills node
│   │   └── py_modules/
│   │       └── PmRobotUtils.py        # Utility functions and robot interface
│   ├── package.xml
│   └── setup.py
├── pm_vision_skills/                   # Vision-based skills
│   ├── pm_vision_skills/
│   │   └── pm_vision_skills.py        # Vision skills node
│   ├── package.xml
│   └── setup.py
├── pm_robot_calibration/               # Calibration services
│   ├── pm_robot_calibration/
│   │   └── pm_robot_calibraion.py     # Calibration node
│   ├── package.xml
│   └── setup.py
├── pm_skills_interfaces/               # Service and message definitions
│   ├── srv/
│   │   ├── GripComponent.srv
│   │   ├── PlaceComponent.srv
│   │   ├── CorrectFrameVision.srv
│   │   ├── CorrectFrameLaser.srv
│   │   ├── IterativeGonioAlign.srv
│   │   ├── CheckFrameMeasurable.srv
│   │   └── ... (other service definitions)
│   ├── msg/
│   │   └── DispensePoint.msg
│   ├── CMakeLists.txt
│   └── package.xml
├── pm_launch_skills/                   # Launch configurations
│   ├── launch/
│   │   └── pm_skills.launch.py        # Main launch file
│   ├── package.xml
│   └── setup.py
└── README.md                           # This file

Configuration

Robot Modes

The system supports three operation modes:

• REAL_MODE: Real hardware robot
• GAZEBO_MODE: Gazebo simulation
• UNITY_MODE: Unity simulator

The active mode is automatically detected by PmRobotUtils.

License

TODO: Add appropriate license

Contact

For questions or issues, please contact the maintainers:

• PM Lab Team
• Email: pmlab@example.com