https://robotwiki.cs.lth.se/ 2026-04-04T09:05:19+00:00 https://robotwiki.cs.lth.se/ https://robotwiki.cs.lth.se/_media/wiki:logo.png text/html 2025-09-12T09:21:13+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/sidebar?rev=1757668873&do=diff robotwiki index text/html 2024-10-30T13:08:29+00:00 Marko Guberina (markog@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:robots:ur5e?rev=1730293709&do=diff UR5e Marius UR5e 20205501013. Code: Simple Manipulator Control Tutorials: text and video (lower in the playlist) Interfacing options On the hardware side, all UR e-series robots provide the same interface. It is documented in official UR documentation, a copy of which can be found in the code link above. The summary is that there are 3 options: sending a whole UR_script program, sending UR_script commands one by one, or using the RTDE interface. Since UR_script is limited in functionality an… text/html 2024-10-28T15:56:39+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:robots:heron?rev=1730130999&do=diff HERON Usage Guide Here follows some instructions on how to work with the Heron robot. Jacek has added something here. Starting the Robot The first step is to power on the MiR by pressing the power button in one of the corners of the robot: There are two buttons, one yellow (to the left) and one blue (to the right). The blue one is the power button. After pressing the power button, the lights on the sides of MiR should start lighting up. text/html 2024-10-28T15:55:09+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/?image=documentation%3Arobots%3Awireless_emergency_stop.jpg&ns=documentation%3Arobots&rev=1730130909&tab_details=history&media_do=diff&do=media <img src="https://robotwiki.cs.lth.se/_media/documentation:robots:wireless_emergency_stop.jpg?w=500&amp;h=500&amp;tok=e327b3" alt="wireless_emergency_stop.jpg" loading="lazy" width="500" height="500" /> text/html 2024-10-28T15:54:51+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/?image=documentation%3Arobots%3Aimg_0323.jpg&ns=documentation%3Arobots&rev=1730130891&tab_details=history&media_do=diff&do=media <img src="https://robotwiki.cs.lth.se/_media/documentation:robots:img_0323.jpg?w=500&amp;h=500&amp;tok=51c0b4" alt="img_0323.jpg" loading="lazy" width="500" height="500" /> text/html 2024-06-19T07:32:52+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:containers?rev=1718782372&do=diff Containers Prerequisites * Ubuntu 18.04, 20.04, 22.04 * Feodora 34+ * For rootless use, Podman must be preinstalled * You need git and make commands installed for ROS containers to work. * Optional but useful: Docker (can be installed for Debian/Ubuntu like dists with text/html 2024-05-27T08:18:01+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:robots:heron:ros2?rev=1716797881&do=diff Heron ROS2 This page will describe the current state of Heron running on ROS2, including known issues and possible mitigations if there are any. State * Robot description has been migrated and state is fully published (all joints, UR GPIO, MiR location in world and map) text/html 2024-04-05T08:37:57+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:ssh_docker_display?rev=1712306277&do=diff Display over SSH and inside a docker Prerequisities: * /etc/ssh/sshd_config contains X11UseLocalhost no * Assuming the use of ROS containers repo on git.cs.lth.se Connect with -X or -Y (trusted) over SSH to the robot, using robotmind2 as an example here. text/html 2023-12-15T09:20:52+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:ezskiros:behaviortree?rev=1702632052&do=diff Behavior Tree example in ezSkiROS class deliver_demo(DeliverDemo.SkillBase): def expandBT(self, params): self.sequence( SwitchController(Controller = params.joint_config), PredefinedMovement.arm_lookout(), DetectFreeSpace(Object = params.DeliverPose, ApproachPose = params.DeliverApproachPose), PredefinedMovement.arm_lookout_front(), PredefinedMovement.arm_storage_approach(), PredefinedMovement.arm_storage(), … text/html 2023-12-14T16:12:55+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:ezskiros:subpage?rev=1702570375&do=diff text/html 2023-12-14T16:08:40+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:ezskiros:start?rev=1702570120&do=diff EzSkiros text/html 2023-11-27T08:38:29+00:00 Marcus Klang (marcusk@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:robots:spot:spot_ros:spot_ros_example?rev=1701074309&do=diff Fiducial Localization Test Example This was some example code used to traverse a GraphNav map and record fiducial positions along the way from the World Objects model of Spot. #!/usr/bin/env python3 import typing import pickle import time import rospy import actionlib from actionlib_msgs.msg import GoalStatus from rosservice import get_service_class_by_name from std_msgs.msg import String from geometry_msgs.msg import PoseStamped from spot_msgs.msg import WorldObjectArray, WorldObject from sp…