Troubleshooting

This section provides an example workflow using PiPER (AgileX Robotics).

System Calibration

Currently, there is an unresolved issue with the PiPER hardware. If the robot remains disconnected for an extended period, it may accumulate a small positional drift (~millimeters). This can cause inaccuracies in experiments that require high-precision manipulation.

To recalibrate the RoboChemist system (e.g., AUTOHIAM), follow the steps below.

Starting the Robot

To start the robot:

1. Enable the Bash environment

   Open a new terminal and source the PiPER workspace:

   cd ~/piper_ros_ws &&
   source install/setup.bash
   

2. Activate the CAN interface

   Run the following script to bring up the CAN bus:

   cd ~/piper_ros_ws/src/piper_ros &&
   bash can_activate.sh can0 1000000
   

3. Launch the enable node

   Run the node to power on and enable the robot:

   ros2 launch piper start_single_piper.launch.py gripper_val_mutiple:=2
   

4. Start the ROS 2 system

   In a separate terminal, launch the ROS 2 stack for the robot:

   cd ~/piper_ros_ws &&
   source install/setup.bash &&
   ros2 launch piper_with_gripper_moveit demo.launch.py
   

5. Start the curobo collision-free motion planner

   In a new terminal, source the python virtual environment and run the cumotion service:

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 cumotion
   

Starting the Camera

To start the camera, first run the node to power on the camera ROS 2 stack:

ros2 run realsense2_camera realsense2_camera_node   --ros-args   -p enable_color:=true   -p rgb_camera.color_profile:=1920x1080x30

Then in a seperate terminal, launch the ROS 2 node for marker detection:

source ~/directory_env/handeye_env/bin/activate &&
cd ~/autohiam_ws &&
source install/setup.bash &&
ros2 run marker_detection gripper_estimate_marker_pose

Calibrating the Robot Goal Positions

To calibrate the goal positions (e.g., for precipitation, washing, and drying), manually control the robot to pick up the sample container. Move it to each goal position and adjust the X and Y parameters. The goal is to center the container within the beaker and ensure it can move straight up and down without colliding with the beaker walls.

1. Position the camera to verify the container

   In a new terminal,

   cd ~/autohiam_ws &&
   source install/setup.bash &&
   ros2 run hiam_gen2 start_pose
   

2. Open the gripper

   In a new terminal,

   cd ~/autohiam_ws &&
   source install/setup.bash &&
   ros2 run hiam_gen2 open_gripper
   

3. Pick up the container

   In a new terminal,

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 pickup
   

4. Move up the container

   In a new terminal,

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 cartesian_control_moveit --ros-args -p z_offset:=0.15
   

5. Calibrate the precipitation position

   In a new terminal, run the following command and adjust the parameters -p x:=0.375 -p y:=0.180:

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 moveto --ros-args -p x:=0.375 -p y:=0.180
   

6. Calibrate the washing position

   In a new terminal, run the following command and adjust the parameters -p x:=0.375 -p y:=0.075:

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 moveto --ros-args -p x:=0.375 -p y:=0.075
   

7. Calibrate the drying position

   In a new terminal, run the following command and adjust the parameters -p x:=0.488 -p y:=0.080:

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 moveto --ros-args -p x:=0.488 -p y:=0.080
   

8. Calibrate the drying infusion position

   In a new terminal, run the following command and adjust the parameters -p x:=0.253 -p y:=-0.143 -p z:=0.280:

   source ~/directory_env/curobo_env/bin/activate &&
   cd ~/autohiam_ws && source install/setup.bash &&
   ros2 run hiam_gen2 moveto --ros-args -p x:=0.253 -p y:=-0.143 -p z:=0.280