Merge pull request #21 from NASA-JSC-Robotics/add-ur-gui

Add ur gui

Author: mtobia-nasa

README.md

@@ -25,11 +25,15 @@ ros2 launch clr_deploy clr_sim.launch.py model_env:=true
 For hardware we run the UR pendantless, which is a two part launch process:
 
 ```bash
-# To launch the hardware robot, first deploy the UR tools to activate the dashboard client
-# in its own long-lived shell.
-ros2 launch chonkur_deploy ur_tools.launch.py
+# To launch the hardware robot, first deploy chonkur communications to activate the dashboard client
+# in its own long-lived shell on the controls machine.
+ros2 launch chonkur_deploy chonkur_comm.launch.py
 
-# Start the hardware interfaces for the rail, lift, and ChonkUR.
+# On the console machine, launch the UR GUI, which handles most operations that normally occur on the UR pendant
+ros2 launch chonkur_deploy chonkur_gui.launch.py
+
+# Back on the controls machine, after reading the UR arm
+# Start the hardware interfaces for the rail, lift, and ChonkUR
 ros2 launch clr_deploy clr_hw.launch.py
 ```
 
@@ -52,6 +56,7 @@ ros2 launch clr_mujoco_config clr_mujoco.launch.py
 # In another shell launch the moveit interface with sim parameters set
 ros2 launch clr_moveit_config clr_moveit.launch.py include_mockups_in_description:=true use_sim_time:=true
 ```
+
 ## Citation
 
 This project falls under the purview of the iMETRO project.

chonkur/README.md

@@ -27,8 +27,8 @@ For hardware we run the UR pendantless, which is a two part launch process:
 
 ```bash
 # To launch the hardware robot, first deploy the UR tools to activate the dashboard client
-# in its own long-lived shell.
-ros2 launch chonkur_deploy ur_tools.launch.py
+# in its own long-lived shell on the controls machine.
+ros2 launch chonkur_deploy chonkur_comm.launch.py
 
 # Then start the hardware interface.
 ros2 launch chonkur_deploy chonkur_hw.launch.py

chonkur/chonkur_deploy/config/drt_ur_gui_config.yaml

@@ -0,0 +1,14 @@
+drt_ur_gui:
+  ros__parameters:
+    program: "ext_ctrl.urp"
+    window.name: "DRT UR Remote Commander: Single Arm Testing Configuration"
+    window.stylesheet: |
+      QMainWindow {
+        background-color: darkgrey;
+        color: #000000;
+      }
+      QPlainTextEdit {
+        background-color: lightgrey;
+        color: #000000;
+        font-size: 8px;
+      }

chonkur/chonkur_deploy/launch/chonkur_comm.launch.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2025, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# This software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace for the robot.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "headless_mode",
+            default_value="true",
+            description="Enable headless mode for robot control",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "robot_ip",
+            default_value="192.168.1.102",
+            description="IP address by which the robot can be reached.",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "hande_dev_name",
+            default_value="/tmp/ttyUR",
+            description="File descriptor that will be generated for the tool communication device. "
+            "The user has be be allowed to write to this location. ",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "tool_tcp_port",
+            default_value="54321",
+            description="Remote port that will be used for bridging the tool's serial device.",
+        )
+    )
+
+    # Initialize Arguments
+    namespace = LaunchConfiguration("namespace")
+    headless_mode = LaunchConfiguration("headless_mode")
+    robot_ip = LaunchConfiguration("robot_ip")
+    hande_dev_name = LaunchConfiguration("hande_dev_name")
+    tool_tcp_port = LaunchConfiguration("tool_tcp_port")
+
+    robot_state_helper_node = Node(
+        package="ur_robot_driver",
+        executable="robot_state_helper",
+        name="ur_robot_state_helper",
+        output="both",
+        parameters=[
+            {"headless_mode": headless_mode},
+            {"robot_ip": robot_ip},
+        ],
+    )
+
+    ur_dashboard_client = Node(
+        package="ur_robot_driver",
+        executable="dashboard_client",
+        name="dashboard_client",
+        output="both",
+        parameters=[{"robot_ip": robot_ip}],
+    )
+
+    hande_comm_node = Node(
+        name="ur_tool_communication_hande",
+        package="ur_robot_driver",
+        executable="tool_communication.py",
+        namespace=namespace,
+        output="both",
+        parameters=[
+            {
+                "robot_ip": robot_ip,
+                "tcp_port": tool_tcp_port,
+                "device_name": hande_dev_name,
+            }
+        ],
+    )
+
+    nodes = [robot_state_helper_node, ur_dashboard_client, hande_comm_node]
+
+    return LaunchDescription(declared_arguments + nodes)

chonkur/chonkur_deploy/launch/chonkur_gui.launch.py

@@ -0,0 +1,57 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2025, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# This software is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from chonkur_deploy.launch_helpers import include_launch_file
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace for the robot.",
+        )
+    )
+
+    # Initialize Arguments
+    namespace = LaunchConfiguration("namespace")
+
+    gui_config_path = os.path.join(get_package_share_directory("chonkur_deploy"), "config", "drt_ur_gui_config.yaml")
+
+    ur_gui = include_launch_file(
+        package_name="drt_ur_gui",
+        launch_file="one_arm.launch.py",
+        launch_arguments={
+            "ns": namespace,
+            "config_file_path": gui_config_path,
+        }.items(),
+    )
+
+    nodes = [ur_gui]
+
+    return LaunchDescription(declared_arguments + nodes)