Quick way to get FT-300 Values via ROS

[iameijaz]

Is there any quick or working method to get the FT-300 Sensor values from the FT-300 sensor that is attached to a UR-5 Robot.
I prefer ROS Noetic but I am open to ROS Melodic as well. also a way to control the gripper and its position as well.

[felixvd]

I assume you mean the FT-300 sensor cable is connected to the UR robot/control box. Yes, if the URCap installed, the signal is available on the tool comm interface IIRC and should be published by the UR driver. We used it in this assembly project.

The relevant files should be this launch file and this config file. Hope that helps.

[iameijaz]

Did you use ROS Noetic or Melodic?

[felixvd]

I believe it was Melodic, but from memory those packages should work on Noetic just as well.

[iameijaz]

I tried to install the robotiq library but was constantly getting an error while catkin_make related to a hardware_interface.cpp and some SplineTrajectory being undefined..

I will try installing the package you've sent then I will let you know

[iameijaz]

I have cloned the repo you've sent, and after running catkin_make_isolated (I have the Universal Robot repo pkgs already there):

This is the error that I am getting:
`<== Failed to process package 'aist_camera_multiplexer':
Command '['cmake', '/home/vbt/master_ws/src/o2ac-ur/catkin_ws/src/aist_modules/aist_camera_multiplexer', '-DCATKIN_DEVEL_PREFIX=/home/vbt/master_ws/devel_isolated/aist_camera_multiplexer', '-DCMAKE_INSTALL_PREFIX=/home/vbt/master_ws/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1.

Reproduce this error by running:
`

And when I try to run rosdep :

vbt@verbit-machine:~/master_ws$ rosdep install --from-paths src --ignore-src -y 
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
o2ac_visualization: Cannot locate rosdep definition for [opencv3]
o2ac_gazebo: Cannot locate rosdep definition for [robotiq_gazebo]
o2ac_routines: Cannot locate rosdep definition for [o2ac_usb_relay]
o2ac_task_planning_pddl_converter: Cannot locate rosdep definition for [o2ac_assembly_handler]
o2ac_skills: Cannot locate rosdep definition for [robotiq_msgs]
o2ac_examples: Cannot locate rosdep definition for [robotiq_msgs]

I made a new workspace(ie moved the other packages out of it from src folder), on Noetic, to test it seperately, then this is what I got:

vbt@verbit-machine:~/master_ws$ rosdep install --from-paths src --ignore-src -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
o2ac_gazebo: Cannot locate rosdep definition for [robotiq_gazebo]
o2ac_examples: Cannot locate rosdep definition for [robotiq_msgs]
o2ac_skills: Cannot locate rosdep definition for [robotiq_msgs]
o2ac_visualization: Cannot locate rosdep definition for [opencv3]
o2ac_task_planning_pddl_converter: Cannot locate rosdep definition for [o2ac_assembly_handler]
o2ac_routines: Cannot locate rosdep definition for [o2ac_usb_relay]

[felixvd]

You don't need to install the whole project, you can just take inspiration from the relevant part. It sounds like something is not set up correctly in your workspace though. I'll just note that there are detailed installation instructions and scripts for running the workspace in a docker container.

[iameijaz]

I just want the FT-300 values on my laptop from UR5.

[iameijaz]

You don't need to install the whole project, you can just take inspiration from the relevant part. It sounds like something is not set up correctly in your workspace though. I'll just note that there are detailed installation instructions and scripts for running the workspace in a docker container.

Will check this out and let you know

[felixvd]

You should only need to start up the ur driver with the right parameters and it will publish the force sensor data. That’s all I remember.

…

On Wed, Jan 3, 2024 at 16:33 Verbit ***@***.***> wrote: I just want the FT-300 values on my laptop from UR5. — Reply to this email directly, view it on GitHub <#11 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABCTLOPXBUT67QRXLYTR2R3YMUCU5AVCNFSM6AAAAABBK74F5WVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQNZUHE2TENRRGE> . You are receiving this because you commented.Message ID: ***@***.***>

[iameijaz]

alright, Thanks. I will check it and let you know.

[iameijaz]

while, following the instructions, 2nd step,

i got the following error:

cd ~/ && git clone https://github.com/o2ac/o2ac-ur.git && cd ~/o2ac-ur/ && git submodule update --init
Cloning into 'o2ac-ur'...
remote: Enumerating objects: 24368, done.
remote: Counting objects: 100% (2214/2214), done.
remote: Compressing objects: 100% (1513/1513), done.
remote: Total 24368 (delta 642), reused 2145 (delta 628), pack-reused 22154
Receiving objects: 100% (24368/24368), 101.92 MiB | 1.14 MiB/s, done.
Resolving deltas: 100% (13716/13716), done.
Updating files: 100% (2150/2150), done.
Submodule 'github-wiki' (https://github.com/o2ac/o2ac-ur.wiki.git) registered for path 'github-wiki'
Submodule 'underlay_ws/src/downward' (http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git) registered for path 'underlay_ws/src/downward'
Submodule 'underlay_ws/src/moveit' (http://gitlab+deploy-token-440693:vMpkB_8thDeUCDa4oKNr@gitlab.com/o2ac/moveit.git) registered for path 'underlay_ws/src/moveit'
Submodule 'underlay_ws/src/moveit_msgs' (https://github.com/felixvd/moveit_msgs) registered for path 'underlay_ws/src/moveit_msgs'
Submodule 'underlay_ws/src/moveit_task_constructor' (http://gitlab+deploy-token-440692:CsSxsSXceaZ3y9YZzmtf@gitlab.com/o2ac/moveit-task-constructor.git) registered for path 'underlay_ws/src/moveit_task_constructor'
Submodule 'underlay_ws/src/third_party/ddynamic_reconfigure' (http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ddynamic_reconfigure) registered for path 'underlay_ws/src/third_party/ddynamic_reconfigure'
Submodule 'underlay_ws/src/third_party/realsense-ros' (http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/realsense-ros) registered for path 'underlay_ws/src/third_party/realsense-ros'
Submodule 'underlay_ws/src/third_party/robotiq-cri' (http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/robotiq-cri) registered for path 'underlay_ws/src/third_party/robotiq-cri'
Submodule 'underlay_ws/src/third_party/universal_robot' (http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/universal_robot) registered for path 'underlay_ws/src/third_party/universal_robot'
Submodule 'underlay_ws/src/third_party/ur_drivers' (https://github.com/felixvd/Universal_Robots_ROS_Driver.git) registered for path 'underlay_ws/src/third_party/ur_drivers'
Submodule 'underlay_ws/src/ur_python_utilities' (http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git) registered for path 'underlay_ws/src/ur_python_utilities'
Cloning into '/home/vbt/o2ac-ur/github-wiki'...
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/downward'...
remote: HTTP Basic: Access denied. The provided password or token is incorrect or your account has 2FA enabled and you must use a personal access token instead of a password. See https://gitlab.com/help/topics/git/troubleshooting_git#error-on-git-fetch-http-basic-access-denied
fatal: Authentication failed for 'http://gitlab.com/sinicx/robotics/on-going/downward.git/'
fatal: clone of 'http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git' into submodule path '/home/vbt/o2ac-ur/underlay_ws/src/downward' failed
Failed to clone 'underlay_ws/src/downward'. Retry scheduled
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/moveit'...
warning: redirecting to https://gitlab.com/o2ac/moveit.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/moveit_msgs'...
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/moveit_task_constructor'...
warning: redirecting to https://gitlab.com/o2ac/moveit-task-constructor.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/third_party/ddynamic_reconfigure'...
warning: redirecting to https://gitlab.com/o2ac/third-party/ddynamic_reconfigure.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/third_party/realsense-ros'...
warning: redirecting to https://gitlab.com/o2ac/third-party/realsense-ros.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/third_party/robotiq-cri'...
warning: redirecting to https://gitlab.com/o2ac/third-party/robotiq-cri.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/third_party/universal_robot'...
warning: redirecting to https://gitlab.com/o2ac/third-party/universal_robot.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/third_party/ur_drivers'...
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/ur_python_utilities'...
warning: redirecting to https://gitlab.com/o2ac/third-party/ur_python_utilities.git/
Cloning into '/home/vbt/o2ac-ur/underlay_ws/src/downward'...
remote: HTTP Basic: Access denied. The provided password or token is incorrect or your account has 2FA enabled and you must use a personal access token instead of a password. See https://gitlab.com/help/topics/git/troubleshooting_git#error-on-git-fetch-http-basic-access-denied
fatal: Authentication failed for 'http://gitlab.com/sinicx/robotics/on-going/downward.git/'
fatal: clone of 'http://gitlab+deploy-token-440735:1DPsfhJwB9i_Emh-9KdN@gitlab.com/sinicx/robotics/on-going/downward.git' into submodule path '/home/vbt/o2ac-ur/underlay_ws/src/downward' failed
Failed to clone 'underlay_ws/src/downward' a second time, aborting

[iameijaz]

I believe it is due to my expired token for authentication.

[felixvd]

I don't think that package is open anymore so it needs to be updated, but I can't do it in the near future. Either delete the submodule or just create an empty workspace from scratch with just the relevant packages. That's all I can do at the moment.

[iameijaz]

what if I cd to the catkin_ws inside this pkg and then work inside it?