industrial_robotics.md

Industrial Robotics

• Intro

  • Industrial robot
    • abbrevs.
    • TCP - Tool Central Point
  • Lectures on Robotic Planning and Kinematics
  • MIT Introduction to Robotics
    • Lecture Notes
    • Download
    • Chapter 4: Planar Kinematics
  • A Mathematical Introduction to Robotic Manipulation
  • DISTANCE-BASED FORMULATIONS FOR THE POSITION ANALYSIS OF KINEMATIC CHAINS
  • robotics-315
    • UWA course robotics-315

• Forward and Inverse Kinematics

  • Transformation Matrices Part 1
  • Transformation Matrices Part 2
  • Transformation Matrices Part 3
  • Forward and Inverse Kinematics Part 1
  • Forward and Inverse Kinematics Part 2
  • Forward and Inverse Kinematics Part 3
  • Velocity, Force and the Jacobian Part 1
  • Velocity, Force and the Jacobian Part 2
  • Velocity, Force and the Jacobian Part 3
  • Velocity, Force and the Jacobian Part 4
    • milfordrobotics
    • ENB339 Introduction to Robotics
    • Introduction to Robotics (ENB339) Lecture Notes

• robot camera calibration

  • High-Precision Calibration Approaches to Robot Vision Systems

  • A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

  • Robot Calibration: Modeling Measurement and Applications

  • Accurate Robotic 3D Vision

• ROS2 + ROS + What, Why and How of ROS

  • ROS education

    • ROS2 Tutorials
    • ROS 2 Basics in 5 Days (C++)
    • ROS2 : Real Time Publish Subscribe -- RTPS / Data Distribution Service -- DDS
      • ROS2 vs ROS1.Установка ROS2 на Ubuntu 18.04
      • Data Distribution Service
      • DDS Interoperability Wire Protocol May 2019
      • Reactive functional programming in distributed embedded systems
        • Reactive Extensions for C++
          • ReactiveX Languages
            • An API for asynchronous programming with observable streams
      • eProsima Fast RTPS Documentation
        • https://github.com/eProsima/Fast-RTPS
        • eProsima FASTRTPSGEN is a Java application that generates source code using the data types defined in an IDL file
          tl;dr

        sudo add-apt-repository ppa:cwchien/gradle
        sudo apt update
        sudo apt upgrade gradle

        • see Gradle: Could not determine java version from...
          • Maven dependencies are not getting downloaded, proxy issues?
          • Gradle proxy configuration
            tl;dr

          gradle -Dhttp.proxyHost=127.0.0.1 -Dhttp.proxyPort=3128 - Dhttps.proxyHost=127.0.0.1 -Dhttps.proxyPort=3128

        • Execution and IDL Definition
        • A brief introduction to the RTPS protocol
      • ADLINK IST
        • Vortex OpenSplice Community Edition source repository
      • Scala
        • nuvo DDS API for Scala and Android
          • nuvo-io/moliere-demo
      • Rust rtps imps
        • Open implementation of the Real Time Publish Subscribe protocol in Rust
        • Implementation of the Real Time Publish Subscribe (RTPS) in Rust
        • RTPS IDL to Rust code generator
      • PX4 Autopilot
        • Estimation & Control Library for Guidance, Navigation and Control Applications
        • LA for PX4 Lightweight, dependency free Matrix library (BSD)
        • PX4 Autopilot Software
        • ROS/ROS2 messages that match the uORB messages counterparts under PX4 Firmware

  • Building ROS 2 on Linux

  • Ros_2 on Arch Linux

    $ cd ~/ros2_ws/src/ros2/rviz/
    $ git remote add racko https://github.com/racko/rviz.git
    $ git fetch racko added_cmake_project_type fix_fallthrough fix_wrong_yaml_cpp
    $ git cherry-pick racko/added_cmake_project_type racko/fix_fallthrough racko/fix_wrong_yaml_cpp
    ...
    sudo python3 -m pip install empy setuptools nose vcstool pep8 pydocstyle pyflakes flake8 mock coverage
    sudo pip3 install lark-parser
    ```

  • ROS2 Fails to build qt_gui_cpp

  • ROS2 tutorials

    • Create a ROS 2 package (C++)
    • How to launch a ROS2 node

  • OpenAI Gym+ROS+Gazebo: обучение автономного робота в домашних условиях. Часть 1

    • Rapid Autonomous Complex-Environment Competing Ackermann-steering Robot
    • A lightweight simulator of the MIT Racecar
    • Reinforcement Learning with OpenAI Gym and Gazebo Environment

  • ROS Digest

    • ROS 2 vs. ROS 1 : Which One Is Better For Me?
    • On not using ROS for your robotics startup?
    • What is moveit_ros? All about Movelt! ROS
    • How to Start with Self-Driving Cars Using ROS
    • How To Become a Robotics Developer

  • Introduction to the Robot Operating System (ROS) Middleware - Mike Anderson, The PTR Group, Inc.

  • The Robot Operating System (ROS)

    • ROS wiki
    • ROS intro
    • Programming for Robotics (ROS) Course 1
      • Programming for Robotics - ROS
        • Programming for Robotics - ROS - lecture 1
      • ROS Best Practices from ETHZ
        • ROS Design Patterns
        • ROS Best Practices
        • How to set debug level: from rosconsole
          • tl;dr

          #include <ros/console.h>
          if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
              ros::console::levels::Debug) ) {
             ros::console::notifyLoggerLevelsChanged();
          }

      • A set of solutions to ETHZ ROS lectures
    • Messages and Topics: Communicating between nodes
      • ROS simple_message
        • industrial::typed_message::TypedMessage Class Reference
    • ROS callbacks, threads and spinning
      • roscppOverviewCallbacks and Spinning
        • Significance of ros::spinOnce()
        • What is spinOnce() used for in ROS?
          • Difference between spin and rate.sleep in ROS
        • ROS Nodelet receive and processing in parallel
          • ROS nodelet
          • Nodelet Everything
        • ROS device drivers
          • ROS fanuc driver
          • ROS-Industrial Robot Driver Specification (Final)
      • Threaded Applications with the roscpp API
        • This is a simple controller built with ROS and Qt5 libraries
        • Tasks and Scheduling in the context of ROS
      • ROS industrial motoman meta package

  • Planning

    • MoveIt! motion planning

    • The Open Motion Planning Library

    • The MoveIt! Motion Planning Framework

      • ROS Planning

      OMPL.app has the following required dependencies:

      * [Boost](http://www.boost.org) (version 1.54 or higher)
      * [CMake](http://www.cmake.org) (version 2.8.7 or higher)
      * [Assimp](http://assimp.org)
      * [FCL](https://github.com/flexible-collision-library/fcl)
      
      OMPL.app's build system will attempt to automatically download and build
      Assimp and FCL if not already installed.
      
      The following dependencies are optional:
      
      * [PyQt](http://www.riverbankcomputing.co.uk/software/pyqt/download5) (for GUI)
      * [PyOpenGL](http://pyopengl.sourceforge.net/) (for GUI)
      * [Py++](https://bitbucket.org/ompl/ompl/src/tip/doc/markdown/installPyPlusPlus.md) (needed to generate Python bindings)
      * [ODE](http://ode.org) (needed to compile support for planning using the Open Dynamics Engine)
      * [Doxygen](http://www.doxygen.org) (needed to create a local copy of the documentation at
        http://ompl.kavrakilab.org)
      * [Eigen](http://eigen.tuxfamily.org) (needed for an informed sampling technique to improve the optimization of path length and for the Vector Field RRT planner)
      

    • Awesome Collision Detection

      • FCL -- The Flexible Collision Library
      • libigl - A simple C++ geometry processing library

  • ROS transport level protocol

    • convenient cross-reference
    • github repository for transport level protocol
    • Robot Communication Protocol from JBC
    • TCP backup
      • Chapter 2. The Transport Layer: TCP, UDP, and SCTP
        • Chapter 4. Elementary TCP Sockets
      • «Boost.Asio C++ Network Programming». Глава 4: Клиент и Сервер
      • Boost.Asio C++ Network Programming examples
      • SOCKETS - SERVER & CLIENT C++ - 2017
      • Error : “Transport endpoint is already connected”
        • Socket program gives “Transport endpoint is already connected” error
        • Reconnecting with connect() on restarted server returns -Transport endpoint is already connected

  • ROS web

    • Web based supervisory system for ROS
    • Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with.
    • A web-based control center for ROS robots
      • Settings
    • Web Applications for Robots using rosbridge
    • robot web tools is a collection of open-source modules and tools for building web-based robot apps

  • How to Roslaunch Nodes in Valgrind or GDB tl;dr

  <node pkg="planning_servers" launch-prefix="xterm -e cgdb --args" name="mainserver" type="mainserver_node"
  ...
  

• building ROS with moveIt on arch linux

  • install octomap

  yaourt -S aur/octomap
  in PKGBUILD change pkgversion from 1.7.0 to 1.8.1
  fix sha256
  

  • install fcl with octomap support

  yaourt -S aur/fcl
  in PKGBUILD change pkgversion from 0.4.0 to 0.5.0
  fix sha256
  check less /usr/include/fcl/config.h has octomap support with octomap version > 1.8.0

    + [C++11 error on ROS buildfarm for kinetic](https://github.com/ros-planning/geometric_shapes/issues/49)
    + [issue: Dependencies on fcl->octomap](https://github.com/ros-planning/moveit_core/issues/299)
    + [fcl 0.5 release with octomap 1.8 support](https://github.com/flexible-collision-library/fcl/issues/137)
  

  • install yaourt -S aur/ros-kinetic-opencv3

  export CC=/usr/bin/gcc-5
  export CXX=/usr/bin/g++-5
  
  diff -u /etc/makepkg.conf.ORIG /etc/makepkg.conf 
  --- /etc/makepkg.conf.ORIG	2017-07-04 12:29:42.000000000 +0300
  +++ /etc/makepkg.conf	2017-10-06 01:19:20.550612564 +0300
  @@ -37,8 +37,8 @@
   # -march (or -mcpu) builds exclusively for an architecture
   # -mtune optimizes for an architecture, but builds for whole processor family
   CPPFLAGS="-D_FORTIFY_SOURCE=2"
  -CFLAGS="-march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong -fno-plt"
  -CXXFLAGS="-march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong -fno-plt"
  +CFLAGS="-march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong"
  +CXXFLAGS="-march=x86-64 -mtune=generic -O2 -pipe -fstack-protector-strong"

    + i.e. remove `-fno-plt` for `CFLAGS`, `CXXFLAGS` in `/etc/makepkg.conf` temporary
    + [ AUR Issues, Discussion & PKGBUILD Requests» gcc: error: unrecognized command line option ‘-fno-plt’](https://bbs.archlinux.org/viewtopic.php?id=228332)
    + [Build error: GCC-5 fail on "-fno-plt" flag](https://www.reddit.com/r/archlinux/comments/6nxxre/build_error_gcc5_fail_on_fnoplt_flag/)
  

  yay -S aur/ros-kinetic-core --noconfirm
  yay -S aur/ros-kinetic-desktop --noconfirm
  yay -S aur/ros-kinetic-desktop-full --noconfirm
  yay -S aur/ros-kinetic-moveit-core --noconfirm
  yay -S aur/ros-kinetic-moveit --noconfirm

  • Snapcraft builds for ROS

    • Install snapd on Arch Linux
    • Install snapd on Ubuntu

  • rosdep install fails on Archlinux

    • ROS Kinetic Installing from source
      • Catkin fails on osx 10.9, can't find 'main' module in empy-3.1-py2.7.egg/em.pyc ; on arch linux fails as well tl;dr a confusion between pyhon packages em and empy

      sudo pip uninstall em
      sudo pip install empy
      rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall
      rosinstall_generator industrial_core --rosdistro kinetic --deps --wet-only --tar >> kinetic-desktop-wet.rosinstall
      wstool init -j8 src kinetic-desktop-full-wet.rosinstall
      wstool update -j 4 -t src
      #rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
      ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Debug --make-args VERBOSE=1
      ...
        Could not find a package configuration file provided by "console_bridge"
      ...

        + [ROS `console_bridge`](http://wiki.ros.org/console_bridge)
      

      Poco was not found
      sudo apt-get install libpoco-dev
      sudo apt-get install libpocofoundation9v5-dbg
      with Arch Linux many annoying errors; quick-n-dirty fixes to link.txt add -lPocoNet -lPocoUtil

      • opencv3 build: see above on yaourt -S aur/ros-kinetic-opencv3 and in opencv3/cmake/OpenCVPCHSupport.cmake

      SET(_PCH_include_prefix "-I")
      #SET(_PCH_isystem_prefix "-isystem")
      SET(_PCH_isystem_prefix "-I")

      as workaround for Source compile of Kinetic on Fedora24; symptoms:

      cstdlib:75:25: fatal error: stdlib.h: No such file or directory
       #include_next <stdlib.h>

      • ROS package collada_parser: dae.h not found
      • get perception_pcl building on kinetic
      • kinetic-devel does not build on 16.04
      • cmake error, poco was not found, Raspberry Pi, ROS Indigo
      • sip: Unable to find file "QtCore/QtCoremod.sip"
        • sip: Unable to find file "QtCore/QtCoremod.sip"
        • Problem during compilation of ROS INDIGO on ARM/Ubuntu trusty from source
        • trying to install ROS from source on UBUNTU 13.10
      • No module named defusedxml.xmlrpc
        • when executing command roslaunch ...

        sudo apt-get install python-defusedxml

    • Ros Build System code gists

• rust

  • ROS

    • Awesome Rust for Robotics
    • Urdf-viz: URDF file viewer tl;dr links to + kinematics + urdf loader + visualizer + rrt + OTL repositories in Rust
    • adnanademovic repositories
      • Pure Rust implementation of a ROS client library
      • A pure Rust implementation of xml-rpc
      • Serde ROSMSG
    • Mobile Robot Programming Toolkit (MRPT)
      • Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision
      • MultiVehicle simulator (MVSim)

  • Haptics

    • Haptics Group Research: Surface Texture Perception
      • video explaining haptic prototype
      • durka repositories
        • A rust cool library for indicating progress in command line applications to users

  • Backup

    • https://tessel.io/
    • https://www.slideshare.net/AndyGrove1/rust-is-for-robots
    • https://users.rust-lang.org/t/rust-for-embedded-development-where-we-are-and-whats-missing/10861
    • https://github.com/robotrs/rust-wpilib https://kylestach1678.github.io/2017/01/03/rust-for-robotics-part-0-introduction.html
    • https://crates.io/crates/wpilib-hal

• Point Cloud Library

• GA for robotics

  • Geometric Algebra for Modeling in Robot Physics

• Artificial Intelligence for Robotics by Georgia Institute of Technology Georgia Tech

  • intro to Artificial Intelligence for Robotics
  • A python cheat sheet containing the basics needed for the course Artificial Intelligence for Robotics
  • Solution to the programming assignments in Artificial Intelligence For Robotics by Udacity

• RobOptim is a Modern, Open-Source, C++ Library for Numerical Optimization applied to Robotics

  • RobOptim
  • roboptim-tutorial

• Protocols verification

  • Design and Validation of Computer Protocols
  • Specifying Systems: The TLA+ Language and Tools for Hardware and Software Engineers
  • Yet another explicit state model checker
  • SPIN An explicit state model checker

• Robot Simulators

  • Robot simulator with realistic 3D physics
    • Research Network for Self-Organization of Robot Behavior
    • The Playful Machine
      • The Playful Machine book
  • V-REP, Gazebo or ARGoS? A Robot Simulators Comparison
  • Sim2Real Using Simulation to Train Real-Life Grasping Robots

• Misc

  • DART
    • Dynamic Animation and Robotics Toolkit
    • DART API Documentation
    • DART C++ Tutorials
  • Stanford Artificial Intelligence Laboratory
    • Garrett Thomas papers on robotics and ML
  • JoelBurdick list for robotics
  • Работа с SLAM в ROS на Raspberry Pi 3 на примере hector_slam
  • OpenRAVE provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics application
  • YARP stands for Yet Another Robot Platform
    • CUDADeviceDriver.cpp
    • yarp-wholebodyinterface
    • YARP: Port and connection protocols
  • Robotic Humanoid hand
  • ROBOTIS-MANIPULATOR-H
    • robotis_controller
    • ROBOTIS Official Github
  • Plucker Coordinates for Lines in the Space∗
  • Робот-тележка на ROS. Часть 8. Управляем с телефона-ROS Control, GPS-нода
  • Learning embedded Rust by building RISC-V-powered robot
    • Part 1
    • Part 2
    • Part 3
    • Part 4