ConnTact

Software framework to enable agile robotic assembly applications.

(Connect + Tactile)

Overview

Installation

Development of framework was done under Ubuntu Focal (20.04) using ROS Noetic.

• Clone the repository into the src/ directory of a ROS workspace (e.g., ~/ros_ws/src)
• Install Python dependencies pip install transitions modern_robotics
• Install ROS source dependencies:
  • cd ~/ros_ws/src
  • vcs import < conntact/dependencies.rosinstall
• Install ROS package dependencies: rosdep install --rosdistro noetic --ignore-src --from-paths .
• Source ROS and build the workspace: . /opt/ros/noetic/setup.bash, catkin build

Examples

The repository is currently set up with examples that demonstrate assembly tasks for the NIST assembly task board using a Universal Robots UR10e. Currently two algorithms are implemented that perform peg insertion tasks using a vertical searching method and a corner-contact searching method to find the holes.

To run these examples, open a terminals sourced to the built project workspace and run:

roslaunch conntact ur10e_upload_compliance.launch algorithm_selected:=
   

   

Where is either spiral_search_node or corner_search_node.

Usage

Detailed documentation coming soon...

Setting up a workcell

Configuring a new application

Acknowledgements

This project is primarily supported by the National Institute of Standards and Technology through the Agile Performance of Robotic Systems program under grant award number 70NANB21H018