lite6_labauto

This package provides a customized version of UFactory Lite6 for laboratory automation.

Install & Build

• install ROS

• setup workspace

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws
  wstool init src
  catkin build
  

• build pkgs

  git clone https://github.com/asanolab/lite6_labauto.git
  git clone https://github.com/asanolab/pipetty_interface.git
  wstool merge -t . lite6_labauto/install/lite6_labauto.noetic.rosinstall
  wstool update
  rosdep install -y -r --from-paths . --ignore-src
  cd lite6_labauto
  catkin bt
  
  echo "source ~/ipc_ws/devel/setup.bash" >> ~/.bashrc
  source ~/ipc_ws/devel/setup.bash
  

• install python modules

  python3 -m pip install pyserial
  

• set udev rules for devices

  sudo cp config/80-lite6-labauto.rules /etc/udev/rules.d/.
  sudo udevadm control --reload
  

Initialization

Prepare robot

roslaunch lite6_labauto lite6_labauto.launch  # launch robot, gripper and camera at the same time
# robot_ip:=192.168.0.166 show_rviz:=true custom_gripper:=true camera:=true

Initialize or shut down Lite 6

rosrun lite6_labauto robot_init.py
rosrun lite6_labauto robot_disable.py

Gripper

• Gripper was made using an open-source project for UFactory Lite6, OpenParallelGripper.
  • XL330_version is used.
  • This gripper can be controlled by position.
  • Firmware of Arduino is placed in sketchbook folder
  • Gripper tip parts are available here. Google Drive
  • Modified the gripper jaws to adapt to different objects, as shown in the figure.
    

ROS msg

msg

LabwareOBB.msg

std_msgs/Header header
geometry_msgs/Pose pose
float32 x_length
float32 y_width
float32 z_height

MovePose.msg

# For pose in move_line function
# [x,y,z,r,p,y] in unit [mm,mm,mm,rad,rad,rad]

float64[6] pose