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Trajectory Replay

Source ROS

source /opt/ros/humble/setup.bash

Clone this

mkdir -p trajectory_replay_ws/src && cd trajectory_replay_ws/src && \
git clone https://github.com/KCL-BMEIS/trajectory_replay.git && cd ..

Clone dependencies

vcs import src < src/trajectory_replay/repos.yml

Build

colcon build && \
source install/setup.bash

Record Trajectory

  • Launch the system
ros2 launch lbr_demos_fri_ros2_advanced_cpp admittance_control_node.launch.py model:=med7 # port_id:=[30200, 30201] (depends on configuration)
  • Start recording
ros2 bag record /lbr/state
  • Convert trajectory to .csv file
python rosbag_to_csv.py --rosbag_path <path_to_rosbag> --lbr_state_topic /lbr/state

Play Trajectory

  • Turn on robot
  • Remove everything with cables from the end-effector
  • Execute braketest, robot will move upright! (AUT ot T1 mode)
  • Put robot into T1 mode
  • Move robot into desired start position (close to brain)
  • Launch LBRServer. (10ms -> 172.31.1.148 -> POSITION_CONTROL -> POSITION)
  • Open terminal and run
source trajectory_replay/install/setup.bash
ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false # port_id:=[30200, 30201] (depends on configuration)
  • Put robot into AUT mode
  • Open another terminal and run
source trajectory_replay/install/setup.bash
ros2 launch trajectory_replay joint_trajectory_client_node.launch.py seconds_from_start:=1 # integer >= 1