├── .gitignore
├── Makefile
├── README.md
└── source
    ├── _static
        ├── access_panel.jpg
        ├── access_panel_numbered.png
        ├── app_store.jpg
        ├── boot_selection.png
        ├── charge_plug.png
        ├── charger.JPG
        ├── communications.png
        ├── electrical_shock_charge.jpg
        ├── electrical_shock_label.png
        ├── fetch_joint_names.png
        ├── fetch_link_names.png
        ├── fetch_pbd_change_frame.png
        ├── fetch_pbd_edit.png
        ├── fetch_pbd_hide_marker.png
        ├── fetch_pbd_home_screen.png
        ├── fetch_pbd_rename.png
        ├── fetch_pbd_reorder.png
        ├── fetch_pbd_select.png
        ├── fetch_ros_ntwk.png
        ├── gazebo.png
        ├── install_continue.png
        ├── install_prompt.png
        ├── install_selection.png
        ├── joystick_numbered.png
        ├── joystick_numbered2.png
        ├── laser_beam_label.png
        ├── logo.png
        ├── motion_control_overview.png
        ├── override.css
        ├── pinch_point_head.jpg
        ├── pinch_point_label.png
        ├── pinch_point_torso.jpg
        ├── power_disconnect.png
        ├── power_distribution.png
        ├── ps4_bluetooth_menu.png
        ├── ps4_numbered.png
        ├── ps4_numbered2.png
        ├── ps4_pairing_after.png
        ├── ps4_pairing_before.png
        ├── read_manual_label.png
        ├── rosds.png
        ├── rqt_runtime_monitor.png
        ├── rqt_runtime_monitor_runstopped.png
        ├── run_on_rosds.png
        ├── runstop_panel.jpg
        ├── rviz.png
        ├── rviz_navigation.png
        ├── toolkit_in_box.png
        └── toolkit_numbering.png
    ├── _themes
        └── sphinx_rtd_theme
        │   ├── __init__.py
        │   ├── breadcrumbs.html
        │   ├── footer.html
        │   ├── layout.html
        │   ├── layout_old.html
        │   ├── search.html
        │   ├── searchbox.html
        │   ├── static
        │       ├── css
        │       │   ├── badge_only.css
        │       │   ├── badge_only.css.map
        │       │   ├── theme.css
        │       │   └── theme.css.map
        │       ├── fonts
        │       │   ├── FontAwesome.otf
        │       │   ├── Inconsolata-Bold.ttf
        │       │   ├── Inconsolata.ttf
        │       │   ├── Lato-Bold.ttf
        │       │   ├── Lato-Regular.ttf
        │       │   ├── RobotoSlab-Bold.ttf
        │       │   ├── RobotoSlab-Regular.ttf
        │       │   ├── fontawesome-webfont.eot
        │       │   ├── fontawesome-webfont.svg
        │       │   ├── fontawesome-webfont.ttf
        │       │   └── fontawesome-webfont.woff
        │       └── js
        │       │   ├── modernizr.min.js
        │       │   └── theme.js
        │   ├── theme.conf
        │   └── versions.html
    ├── api_overview.rst
    ├── calibration.rst
    ├── care_and_feeding.rst
    ├── computer.rst
    ├── conf.py
    ├── docking.rst
    ├── electrical.rst
    ├── faq.rst
    ├── fetch_pbd.rst
    ├── gazebo.rst
    ├── in_the_box.rst
    ├── index.rst
    ├── indigo_to_melodic.rst
    ├── introduction.rst
    ├── license.rst
    ├── manipulation.rst
    ├── mechanical_spec.rst
    ├── mechanism_terminology.rst
    ├── motion_control.rst
    ├── navigation.rst
    ├── notices.rst
    ├── perception.rst
    ├── ps4.rst
    ├── release_notes.rst
    ├── robot_hardware.rst
    ├── safety.rst
    ├── sensors.rst
    ├── support.rst
    ├── teleop.rst
    ├── teleopPS3.rst
    └── visualization.rst


/.gitignore:
--------------------------------------------------------------------------------
1 | build
2 | 


--------------------------------------------------------------------------------
/Makefile:
--------------------------------------------------------------------------------
  1 | # Makefile for Sphinx documentation
  2 | #
  3 | 
  4 | # You can set these variables from the command line.
  5 | SPHINXOPTS    =
  6 | SPHINXBUILD   = sphinx-build
  7 | PAPER         =
  8 | BUILDDIR      = build
  9 | 
 10 | # User-friendly check for sphinx-build
 11 | ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1)
 12 | $(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from http://sphinx-doc.org/)
 13 | endif
 14 | 
 15 | # Internal variables.
 16 | PAPEROPT_a4     = -D latex_paper_size=a4
 17 | PAPEROPT_letter = -D latex_paper_size=letter
 18 | ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
 19 | # the i18n builder cannot share the environment and doctrees with the others
 20 | I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
 21 | 
 22 | .PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
 23 | 
 24 | help:
 25 | 	@echo "Please use \`make <target>' where <target> is one of"
 26 | 	@echo "  html       to make standalone HTML files"
 27 | 	@echo "  dirhtml    to make HTML files named index.html in directories"
 28 | 	@echo "  singlehtml to make a single large HTML file"
 29 | 	@echo "  pickle     to make pickle files"
 30 | 	@echo "  json       to make JSON files"
 31 | 	@echo "  htmlhelp   to make HTML files and a HTML help project"
 32 | 	@echo "  qthelp     to make HTML files and a qthelp project"
 33 | 	@echo "  devhelp    to make HTML files and a Devhelp project"
 34 | 	@echo "  epub       to make an epub"
 35 | 	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
 36 | 	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
 37 | 	@echo "  latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
 38 | 	@echo "  text       to make text files"
 39 | 	@echo "  man        to make manual pages"
 40 | 	@echo "  texinfo    to make Texinfo files"
 41 | 	@echo "  info       to make Texinfo files and run them through makeinfo"
 42 | 	@echo "  gettext    to make PO message catalogs"
 43 | 	@echo "  changes    to make an overview of all changed/added/deprecated items"
 44 | 	@echo "  xml        to make Docutils-native XML files"
 45 | 	@echo "  pseudoxml  to make pseudoxml-XML files for display purposes"
 46 | 	@echo "  linkcheck  to check all external links for integrity"
 47 | 	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
 48 | 
 49 | clean:
 50 | 	rm -rf $(BUILDDIR)
 51 | 
 52 | html:
 53 | 	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
 54 | 	@echo
 55 | 	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
 56 | 
 57 | dirhtml:
 58 | 	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
 59 | 	@echo
 60 | 	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
 61 | 
 62 | singlehtml:
 63 | 	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
 64 | 	@echo
 65 | 	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
 66 | 
 67 | pickle:
 68 | 	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
 69 | 	@echo
 70 | 	@echo "Build finished; now you can process the pickle files."
 71 | 
 72 | json:
 73 | 	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
 74 | 	@echo
 75 | 	@echo "Build finished; now you can process the JSON files."
 76 | 
 77 | htmlhelp:
 78 | 	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
 79 | 	@echo
 80 | 	@echo "Build finished; now you can run HTML Help Workshop with the" \
 81 | 	      ".hhp project file in $(BUILDDIR)/htmlhelp."
 82 | 
 83 | qthelp:
 84 | 	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
 85 | 	@echo
 86 | 	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
 87 | 	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
 88 | 	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/FetchRoboticsDocumentation.qhcp"
 89 | 	@echo "To view the help file:"
 90 | 	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/FetchRoboticsDocumentation.qhc"
 91 | 
 92 | devhelp:
 93 | 	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
 94 | 	@echo
 95 | 	@echo "Build finished."
 96 | 	@echo "To view the help file:"
 97 | 	@echo "# mkdir -p $$HOME/.local/share/devhelp/FetchRoboticsDocumentation"
 98 | 	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/FetchRoboticsDocumentation"
 99 | 	@echo "# devhelp"
100 | 
101 | epub:
102 | 	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
103 | 	@echo
104 | 	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
105 | 
106 | latex:
107 | 	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
108 | 	@echo
109 | 	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
110 | 	@echo "Run \`make' in that directory to run these through (pdf)latex" \
111 | 	      "(use \`make latexpdf' here to do that automatically)."
112 | 
113 | latexpdf:
114 | 	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
115 | 	@echo "Running LaTeX files through pdflatex..."
116 | 	$(MAKE) -C $(BUILDDIR)/latex all-pdf
117 | 	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
118 | 
119 | latexpdfja:
120 | 	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
121 | 	@echo "Running LaTeX files through platex and dvipdfmx..."
122 | 	$(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
123 | 	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
124 | 
125 | text:
126 | 	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
127 | 	@echo
128 | 	@echo "Build finished. The text files are in $(BUILDDIR)/text."
129 | 
130 | man:
131 | 	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
132 | 	@echo
133 | 	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
134 | 
135 | texinfo:
136 | 	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
137 | 	@echo
138 | 	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
139 | 	@echo "Run \`make' in that directory to run these through makeinfo" \
140 | 	      "(use \`make info' here to do that automatically)."
141 | 
142 | info:
143 | 	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
144 | 	@echo "Running Texinfo files through makeinfo..."
145 | 	make -C $(BUILDDIR)/texinfo info
146 | 	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
147 | 
148 | gettext:
149 | 	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
150 | 	@echo
151 | 	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
152 | 
153 | changes:
154 | 	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
155 | 	@echo
156 | 	@echo "The overview file is in $(BUILDDIR)/changes."
157 | 
158 | linkcheck:
159 | 	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
160 | 	@echo
161 | 	@echo "Link check complete; look for any errors in the above output " \
162 | 	      "or in $(BUILDDIR)/linkcheck/output.txt."
163 | 
164 | doctest:
165 | 	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
166 | 	@echo "Testing of doctests in the sources finished, look at the " \
167 | 	      "results in $(BUILDDIR)/doctest/output.txt."
168 | 
169 | xml:
170 | 	$(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
171 | 	@echo
172 | 	@echo "Build finished. The XML files are in $(BUILDDIR)/xml."
173 | 
174 | pseudoxml:
175 | 	$(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
176 | 	@echo
177 | 	@echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."
178 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | Fetch & Freight Research Edition Documentation
 2 | ==============================================
 3 | 
 4 | This is the source for the Fetch & Freight Research Edition Documentation,
 5 | which is  hosted at http://docs.fetchrobotics.com
 6 | 
 7 | Building New Releases
 8 | ---------------------
 9 | 
10 | Install prerequisites:
11 | 
12 | ```
13 | sudo pip install sphinx
14 | ```
15 | 
16 | Build new release from master, store into gh-pages branch:
17 | 
18 | ```
19 | git checkout master
20 | make html
21 | make latexpdf
22 | git checkout gh-pages && git pull
23 | cp -r build/html/* .
24 | cp build/latex/FetchRobotics.pdf .
25 | rm -rf build
26 | # Check for any new files created and add those manually
27 | git commit -a -m "new build"
28 | git push origin gh-pages
29 | ```
30 | 
31 | Troubleshooting:
32 | 
33 | If you get complaints about .sty files install the following
34 | 
35 | ```
36 | sudo apt-get install texlive-full
37 | ```
38 | 


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 1 | .icon:before {
 2 |     white-space: pre-wrap !important;
 3 | }
 4 | .header-override {
 5 |   margin-bottom: 20px;
 6 | }
 7 | .header-override p {
 8 |   padding: 5px;
 9 |   font-size: 1.2em;
10 |   text-align: right;
11 |   float: right;
12 | }
13 | .header-override img {
14 |   width: 200px;
15 | }
16 | 


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/source/_themes/sphinx_rtd_theme/__init__.py:
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 1 | """Sphinx ReadTheDocs theme.
 2 | 
 3 | From https://github.com/ryan-roemer/sphinx-bootstrap-theme.
 4 | 
 5 | """
 6 | import os
 7 | 
 8 | VERSION = (0, 1, 8)
 9 | 
10 | __version__ = ".".join(str(v) for v in VERSION)
11 | __version_full__ = __version__
12 | 
13 | 
14 | def get_html_theme_path():
15 |     """Return list of HTML theme paths."""
16 |     cur_dir = os.path.abspath(os.path.dirname(os.path.dirname(__file__)))
17 |     return cur_dir
18 | 


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/source/_themes/sphinx_rtd_theme/breadcrumbs.html:
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 1 | <div role="navigation" aria-label="breadcrumbs navigation">
 2 |   <ul class="wy-breadcrumbs">
 3 |     <li><a href="{{ pathto(master_doc) }}">Docs</a> &raquo;</li>
 4 |       {% for doc in parents %}
 5 |           <li><a href="{{ doc.link|e }}">{{ doc.title }}</a> &raquo;</li>
 6 |       {% endfor %}
 7 |     <li>{{ title }}</li>
 8 |       <li class="wy-breadcrumbs-aside">
 9 |         {% if pagename != "search" %}
10 |           {% if display_github %}
11 |             <a href="https://{{ github_host|default("github.com") }}/{{ github_user }}/{{ github_repo }}/blob/{{ github_version }}{{ conf_py_path }}{{ pagename }}{{ source_suffix }}" class="fa fa-github"> Edit on GitHub</a>
12 |           {% elif display_bitbucket %}
13 |             <a href="https://bitbucket.org/{{ bitbucket_user }}/{{ bitbucket_repo }}/src/{{ bitbucket_version}}{{ conf_py_path }}{{ pagename }}{{ source_suffix }}" class="fa fa-bitbucket"> Edit on Bitbucket</a>
14 |           {% elif show_source and source_url_prefix %}
15 |             <a href="{{ source_url_prefix }}{{ pagename }}{{ source_suffix }}">View page source</a>
16 |           {% elif show_source and has_source and sourcename %}
17 |             <a href="{{ pathto('_sources/' + sourcename, true)|e }}" rel="nofollow"> View page source</a>
18 |           {% endif %}
19 |         {% endif %}
20 |       </li>
21 |   </ul>
22 |   <hr/>
23 | </div>
24 | 


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/source/_themes/sphinx_rtd_theme/footer.html:
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 1 | <footer>
 2 |   {% if next or prev %}
 3 |     <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
 4 |       {% if next %}
 5 |         <a href="{{ next.link|e }}" class="btn btn-neutral float-right" title="{{ next.title|striptags|e }}" accesskey="n">Next <span class="fa fa-arrow-circle-right"></span></a>
 6 |       {% endif %}
 7 |       {% if prev %}
 8 |         <a href="{{ prev.link|e }}" class="btn btn-neutral" title="{{ prev.title|striptags|e }}" accesskey="p"><span class="fa fa-arrow-circle-left"></span> Previous</a>
 9 |       {% endif %}
10 |     </div>
11 |   {% endif %}
12 | 
13 |   <hr/>
14 | 
15 |   <div role="contentinfo">
16 |     <p>
17 |     {%- if show_copyright %}
18 |       {%- if hasdoc('copyright') %}
19 |         {% trans path=pathto('copyright'), copyright=copyright|e %}&copy; <a href="{{ path }}">Copyright</a> {{ copyright }}.{% endtrans %}
20 |       {%- else %}
21 |         {% trans copyright=copyright|e %}&copy; Copyright {{ copyright }}.{% endtrans %}
22 |       {%- endif %}
23 |     {%- endif %}
24 | 
25 |     {%- if last_updated %}
26 |       {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %}
27 |     {%- endif %}
28 |     </p>
29 |   </div>
30 | 
31 |   {%- if show_sphinx %}
32 |   {% trans %}Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/snide/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>{% endtrans %}.
33 |   {%- endif %}
34 | 
35 | </footer>
36 | 
37 | 


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/source/_themes/sphinx_rtd_theme/layout.html:
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  1 | {# TEMPLATE VAR SETTINGS #}
  2 | {%- set url_root = pathto('', 1) %}
  3 | {%- if url_root == '#' %}{% set url_root = '' %}{% endif %}
  4 | {%- if not embedded and docstitle %}
  5 |   {%- set titlesuffix = " &mdash; "|safe + docstitle|e %}
  6 | {%- else %}
  7 |   {%- set titlesuffix = "" %}
  8 | {%- endif %}
  9 | 
 10 | <!DOCTYPE html>
 11 | <!--[if IE 8]><html class="no-js lt-ie9" lang="en" > <![endif]-->
 12 | <!--[if gt IE 8]><!--> <html class="no-js" lang="en" > <!--<![endif]-->
 13 | <head>
 14 |   <meta charset="utf-8">
 15 |   {{ metatags }}
 16 |   <meta name="viewport" content="width=device-width, initial-scale=1.0">
 17 |   {% block htmltitle %}
 18 |   <title>{{ title|striptags|e }}{{ titlesuffix }}</title>
 19 |   {% endblock %}
 20 | 
 21 |   {# FAVICON #}
 22 |   {% if favicon %}
 23 |     <link rel="shortcut icon" href="{{ pathto('_static/' + favicon, 1) }}"/>
 24 |   {% endif %}
 25 | 
 26 |   {# CSS #}
 27 | 
 28 |   {# OPENSEARCH #}
 29 |   {% if not embedded %}
 30 |     {% if use_opensearch %}
 31 |       <link rel="search" type="application/opensearchdescription+xml" title="{% trans docstitle=docstitle|e %}Search within {{ docstitle }}{% endtrans %}" href="{{ pathto('_static/opensearch.xml', 1) }}"/>
 32 |     {% endif %}
 33 | 
 34 |   {% endif %}
 35 | 
 36 |   {# RTD hosts this file, so just load on non RTD builds #}
 37 |   {% if not READTHEDOCS %}
 38 |     <link rel="stylesheet" href="{{ pathto('_static/' + style, 1) }}" type="text/css" />
 39 |   {% endif %}
 40 | 
 41 |   {% for cssfile in css_files %}
 42 |     <link rel="stylesheet" href="{{ pathto(cssfile, 1) }}" type="text/css" />
 43 |   {% endfor %}
 44 | 
 45 |   {% for cssfile in extra_css_files %}
 46 |     <link rel="stylesheet" href="{{ pathto(cssfile, 1) }}" type="text/css" />
 47 |   {% endfor %}
 48 | 
 49 |   {%- block linktags %}
 50 |     {%- if hasdoc('about') %}
 51 |         <link rel="author" title="{{ _('About these documents') }}"
 52 |               href="{{ pathto('about') }}"/>
 53 |     {%- endif %}
 54 |     {%- if hasdoc('genindex') %}
 55 |         <link rel="index" title="{{ _('Index') }}"
 56 |               href="{{ pathto('genindex') }}"/>
 57 |     {%- endif %}
 58 |     {%- if hasdoc('search') %}
 59 |         <link rel="search" title="{{ _('Search') }}" href="{{ pathto('search') }}"/>
 60 |     {%- endif %}
 61 |     {%- if hasdoc('copyright') %}
 62 |         <link rel="copyright" title="{{ _('Copyright') }}" href="{{ pathto('copyright') }}"/>
 63 |     {%- endif %}
 64 |     <link rel="top" title="{{ docstitle|e }}" href="{{ pathto('index') }}"/>
 65 |     {%- if parents %}
 66 |         <link rel="up" title="{{ parents[-1].title|striptags|e }}" href="{{ parents[-1].link|e }}"/>
 67 |     {%- endif %}
 68 |     {%- if next %}
 69 |         <link rel="next" title="{{ next.title|striptags|e }}" href="{{ next.link|e }}"/>
 70 |     {%- endif %}
 71 |     {%- if prev %}
 72 |         <link rel="prev" title="{{ prev.title|striptags|e }}" href="{{ prev.link|e }}"/>
 73 |     {%- endif %}
 74 |   {%- endblock %}
 75 |   {%- block extrahead %} {% endblock %}
 76 | 
 77 |   {# Keep modernizr in head - http://modernizr.com/docs/#installing #}
 78 |   <script src="{{ pathto('_static/js/modernizr.min.js', 1) }}"></script>
 79 | 
 80 | </head>
 81 | 
 82 | <body class="wy-body-for-nav" role="document">
 83 | 
 84 |   <div class="wy-grid-for-nav">
 85 | 
 86 |     {# SIDE NAV, TOGGLES ON MOBILE #}
 87 |     <nav data-toggle="wy-nav-shift" class="wy-nav-side">
 88 |       <div class="wy-side-nav-search">
 89 |         {% block sidebartitle %}
 90 | 
 91 |         {% if logo and theme_logo_only %}
 92 |           <a href="{{ pathto(master_doc) }}">
 93 |         {% else %}
 94 |           <a href="{{ pathto(master_doc) }}" class="icon icon-home">
 95 |         {% endif %}
 96 | 
 97 |           Fetch & Freight <br/> Research Edition
 98 | 
 99 |         {% if logo %}
100 |           {# Not strictly valid HTML, but it's the only way to display/scale it properly, without weird scripting or heaps of work #}
101 |           <img src="{{ pathto('_static/' + logo, 1) }}" class="logo" />
102 |         {% endif %}
103 |         </a>
104 | 
105 |         {% include "searchbox.html" %}
106 | 
107 |         {% endblock %}
108 |       </div>
109 | 
110 |       <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
111 |         {% block menu %}
112 |           {% set toctree = toctree(maxdepth=4, collapse=False, includehidden=True) %}
113 |           {% if toctree %}
114 |               {{ toctree }}
115 |           {% else %}
116 |               <!-- Local TOC -->
117 |               <div class="local-toc">{{ toc }}</div>
118 |           {% endif %}
119 |         {% endblock %}
120 |       </div>
121 |       &nbsp;
122 |     </nav>
123 | 
124 |     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
125 | 
126 |       {# MOBILE NAV, TRIGGLES SIDE NAV ON TOGGLE #}
127 |       <nav class="wy-nav-top" role="navigation" aria-label="top navigation">
128 |         <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
129 |         <a href="{{ pathto(master_doc) }}">{{ project }}</a>
130 |       </nav>
131 | 
132 |       {# PAGE CONTENT #}
133 |       <div class="wy-nav-content">
134 | 
135 |         <div class="header-override">
136 |           <p>
137 |             <a href="http://www.fetchrobotics.com/research">Fetch & Freight</a><br/>
138 |             <a href="http://www.fetchrobotics.com/blog">Blog</a>
139 |           </p>
140 |           <a href="http://www.fetchrobotics.com"><img src="_static/logo.png"></a>
141 |         </div>
142 | 
143 |         <div class="rst-content">
144 |           {% include "breadcrumbs.html" %}
145 |           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
146 |            <div itemprop="articleBody">
147 |             {% block body %}{% endblock %}
148 |            </div>
149 |           </div>
150 |           {% include "footer.html" %}
151 |         </div>
152 |       </div>
153 | 
154 |     </section>
155 | 
156 |   </div>
157 |   {% include "versions.html" %}
158 | 
159 |   {% if not embedded %}
160 | 
161 |     <script type="text/javascript">
162 |         var DOCUMENTATION_OPTIONS = {
163 |             URL_ROOT:'{{ url_root }}',
164 |             VERSION:'{{ release|e }}',
165 |             COLLAPSE_INDEX:false,
166 |             FILE_SUFFIX:'{{ '' if no_search_suffix else file_suffix }}',
167 |             HAS_SOURCE:  {{ has_source|lower }}
168 |         };
169 |     </script>
170 |     {%- for scriptfile in script_files %}
171 |       <script type="text/javascript" src="{{ pathto(scriptfile, 1) }}"></script>
172 |     {%- endfor %}
173 | 
174 |   {% endif %}
175 | 
176 |   {# RTD hosts this file, so just load on non RTD builds #}
177 |   {% if not READTHEDOCS %}
178 |     <script type="text/javascript" src="{{ pathto('_static/js/theme.js', 1) }}"></script>
179 |   {% endif %}
180 | 
181 |   {# STICKY NAVIGATION #}
182 |   {% if theme_sticky_navigation %}
183 |   <script type="text/javascript">
184 |       jQuery(function () {
185 |           SphinxRtdTheme.StickyNav.enable();
186 |       });
187 |   </script>
188 |   {% endif %}
189 | 
190 |   {%- block footer %} {% endblock %}
191 | 
192 | </body>
193 | </html>
194 | 


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/source/_themes/sphinx_rtd_theme/layout_old.html:
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  1 | {#
  2 |     basic/layout.html
  3 |     ~~~~~~~~~~~~~~~~~
  4 | 
  5 |     Master layout template for Sphinx themes.
  6 | 
  7 |     :copyright: Copyright 2007-2013 by the Sphinx team, see AUTHORS.
  8 |     :license: BSD, see LICENSE for details.
  9 | #}
 10 | {%- block doctype -%}
 11 | <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
 12 |   "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
 13 | {%- endblock %}
 14 | {%- set reldelim1 = reldelim1 is not defined and ' &raquo;' or reldelim1 %}
 15 | {%- set reldelim2 = reldelim2 is not defined and ' |' or reldelim2 %}
 16 | {%- set render_sidebar = (not embedded) and (not theme_nosidebar|tobool) and
 17 |                          (sidebars != []) %}
 18 | {%- set url_root = pathto('', 1) %}
 19 | {# XXX necessary? #}
 20 | {%- if url_root == '#' %}{% set url_root = '' %}{% endif %}
 21 | {%- if not embedded and docstitle %}
 22 |   {%- set titlesuffix = " &mdash; "|safe + docstitle|e %}
 23 | {%- else %}
 24 |   {%- set titlesuffix = "" %}
 25 | {%- endif %}
 26 | 
 27 | {%- macro relbar() %}
 28 |     <div class="related">
 29 |       <h3>{{ _('Navigation') }}</h3>
 30 |       <ul>
 31 |         {%- for rellink in rellinks %}
 32 |         <li class="right" {% if loop.first %}style="margin-right: 10px"{% endif %}>
 33 |           <a href="{{ pathto(rellink[0]) }}" title="{{ rellink[1]|striptags|e }}"
 34 |              {{ accesskey(rellink[2]) }}>{{ rellink[3] }}</a>
 35 |           {%- if not loop.first %}{{ reldelim2 }}{% endif %}</li>
 36 |         {%- endfor %}
 37 |         {%- block rootrellink %}
 38 |         <li><a href="{{ pathto(master_doc) }}">{{ shorttitle|e }}</a>{{ reldelim1 }}</li>
 39 |         {%- endblock %}
 40 |         {%- for parent in parents %}
 41 |           <li><a href="{{ parent.link|e }}" {% if loop.last %}{{ accesskey("U") }}{% endif %}>{{ parent.title }}</a>{{ reldelim1 }}</li>
 42 |         {%- endfor %}
 43 |         {%- block relbaritems %} {% endblock %}
 44 |       </ul>
 45 |     </div>
 46 | {%- endmacro %}
 47 | 
 48 | {%- macro sidebar() %}
 49 |       {%- if render_sidebar %}
 50 |       <div class="sphinxsidebar">
 51 |         <div class="sphinxsidebarwrapper">
 52 |           {%- block sidebarlogo %}
 53 |           {%- if logo %}
 54 |             <p class="logo"><a href="{{ pathto(master_doc) }}">
 55 |               <img class="logo" src="{{ pathto('_static/' + logo, 1) }}" alt="Logo"/>
 56 |             </a></p>
 57 |           {%- endif %}
 58 |           {%- endblock %}
 59 |           {%- if sidebars != None %}
 60 |             {#- new style sidebar: explicitly include/exclude templates #}
 61 |             {%- for sidebartemplate in sidebars %}
 62 |             {%- include sidebartemplate %}
 63 |             {%- endfor %}
 64 |           {%- else %}
 65 |             {#- old style sidebars: using blocks -- should be deprecated #}
 66 |             {%- block sidebartoc %}
 67 |             {%- include "localtoc.html" %}
 68 |             {%- endblock %}
 69 |             {%- block sidebarrel %}
 70 |             {%- include "relations.html" %}
 71 |             {%- endblock %}
 72 |             {%- block sidebarsourcelink %}
 73 |             {%- include "sourcelink.html" %}
 74 |             {%- endblock %}
 75 |             {%- if customsidebar %}
 76 |             {%- include customsidebar %}
 77 |             {%- endif %}
 78 |             {%- block sidebarsearch %}
 79 |             {%- include "searchbox.html" %}
 80 |             {%- endblock %}
 81 |           {%- endif %}
 82 |         </div>
 83 |       </div>
 84 |       {%- endif %}
 85 | {%- endmacro %}
 86 | 
 87 | {%- macro script() %}
 88 |     <script type="text/javascript">
 89 |       var DOCUMENTATION_OPTIONS = {
 90 |         URL_ROOT:    '{{ url_root }}',
 91 |         VERSION:     '{{ release|e }}',
 92 |         COLLAPSE_INDEX: false,
 93 |         FILE_SUFFIX: '{{ '' if no_search_suffix else file_suffix }}',
 94 |         HAS_SOURCE:  {{ has_source|lower }}
 95 |       };
 96 |     </script>
 97 |     {%- for scriptfile in script_files %}
 98 |     <script type="text/javascript" src="{{ pathto(scriptfile, 1) }}"></script>
 99 |     {%- endfor %}
100 | {%- endmacro %}
101 | 
102 | {%- macro css() %}
103 |     <link rel="stylesheet" href="{{ pathto('_static/' + style, 1) }}" type="text/css" />
104 |     <link rel="stylesheet" href="{{ pathto('_static/pygments.css', 1) }}" type="text/css" />
105 |     {%- for cssfile in css_files %}
106 |     <link rel="stylesheet" href="{{ pathto(cssfile, 1) }}" type="text/css" />
107 |     {%- endfor %}
108 | {%- endmacro %}
109 | 
110 | <html xmlns="http://www.w3.org/1999/xhtml">
111 |   <head>
112 |     <meta http-equiv="Content-Type" content="text/html; charset={{ encoding }}" />
113 |     {{ metatags }}
114 |     {%- block htmltitle %}
115 |     <title>{{ title|striptags|e }}{{ titlesuffix }}</title>
116 |     {%- endblock %}
117 |     {{ css() }}
118 |     {%- if not embedded %}
119 |     {{ script() }}
120 |     {%- if use_opensearch %}
121 |     <link rel="search" type="application/opensearchdescription+xml"
122 |           title="{% trans docstitle=docstitle|e %}Search within {{ docstitle }}{% endtrans %}"
123 |           href="{{ pathto('_static/opensearch.xml', 1) }}"/>
124 |     {%- endif %}
125 |     {%- if favicon %}
126 |     <link rel="shortcut icon" href="{{ pathto('_static/' + favicon, 1) }}"/>
127 |     {%- endif %}
128 |     {%- endif %}
129 | {%- block linktags %}
130 |     {%- if hasdoc('about') %}
131 |     <link rel="author" title="{{ _('About these documents') }}" href="{{ pathto('about') }}" />
132 |     {%- endif %}
133 |     {%- if hasdoc('genindex') %}
134 |     <link rel="index" title="{{ _('Index') }}" href="{{ pathto('genindex') }}" />
135 |     {%- endif %}
136 |     {%- if hasdoc('search') %}
137 |     <link rel="search" title="{{ _('Search') }}" href="{{ pathto('search') }}" />
138 |     {%- endif %}
139 |     {%- if hasdoc('copyright') %}
140 |     <link rel="copyright" title="{{ _('Copyright') }}" href="{{ pathto('copyright') }}" />
141 |     {%- endif %}
142 |     <link rel="top" title="{{ docstitle|e }}" href="{{ pathto('index') }}" />
143 |     {%- if parents %}
144 |     <link rel="up" title="{{ parents[-1].title|striptags|e }}" href="{{ parents[-1].link|e }}" />
145 |     {%- endif %}
146 |     {%- if next %}
147 |     <link rel="next" title="{{ next.title|striptags|e }}" href="{{ next.link|e }}" />
148 |     {%- endif %}
149 |     {%- if prev %}
150 |     <link rel="prev" title="{{ prev.title|striptags|e }}" href="{{ prev.link|e }}" />
151 |     {%- endif %}
152 | {%- endblock %}
153 | {%- block extrahead %} {% endblock %}
154 |   </head>
155 |   <body>
156 | {%- block header %}{% endblock %}
157 | 
158 | {%- block relbar1 %}{{ relbar() }}{% endblock %}
159 | 
160 | {%- block content %}
161 |   {%- block sidebar1 %} {# possible location for sidebar #} {% endblock %}
162 | 
163 |     <div class="document">
164 |   {%- block document %}
165 |       <div class="documentwrapper">
166 |       {%- if render_sidebar %}
167 |         <div class="bodywrapper">
168 |       {%- endif %}
169 |           <div class="body">
170 |             {% block body %} {% endblock %}
171 |           </div>
172 |       {%- if render_sidebar %}
173 |         </div>
174 |       {%- endif %}
175 |       </div>
176 |   {%- endblock %}
177 | 
178 |   {%- block sidebar2 %}{{ sidebar() }}{% endblock %}
179 |       <div class="clearer"></div>
180 |     </div>
181 | {%- endblock %}
182 | 
183 | {%- block relbar2 %}{{ relbar() }}{% endblock %}
184 | 
185 | {%- block footer %}
186 |     <div class="footer">
187 |     {%- if show_copyright %}
188 |       {%- if hasdoc('copyright') %}
189 |         {% trans path=pathto('copyright'), copyright=copyright|e %}&copy; <a href="{{ path }}">Copyright</a> {{ copyright }}.{% endtrans %}
190 |       {%- else %}
191 |         {% trans copyright=copyright|e %}&copy; Copyright {{ copyright }}.{% endtrans %}
192 |       {%- endif %}
193 |     {%- endif %}
194 |     {%- if last_updated %}
195 |       {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %}
196 |     {%- endif %}
197 |     {%- if show_sphinx %}
198 |       {% trans sphinx_version=sphinx_version|e %}Created using <a href="http://sphinx-doc.org/">Sphinx</a> {{ sphinx_version }}.{% endtrans %}
199 |     {%- endif %}
200 |     </div>
201 |     <p>asdf asdf asdf asdf 22</p>
202 | {%- endblock %}
203 |   </body>
204 | </html>
205 | 
206 | 


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/source/_themes/sphinx_rtd_theme/search.html:
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 1 | {#
 2 |     basic/search.html
 3 |     ~~~~~~~~~~~~~~~~~
 4 | 
 5 |     Template for the search page.
 6 | 
 7 |     :copyright: Copyright 2007-2013 by the Sphinx team, see AUTHORS.
 8 |     :license: BSD, see LICENSE for details.
 9 | #}
10 | {%- extends "layout.html" %}
11 | {% set title = _('Search') %}
12 | {% set script_files = script_files + ['_static/searchtools.js'] %}
13 | {% block footer %}
14 |   <script type="text/javascript">
15 |     jQuery(function() { Search.loadIndex("{{ pathto('searchindex.js', 1) }}"); });
16 |   </script>
17 |   {# this is used when loading the search index using $.ajax fails,
18 |      such as on Chrome for documents on localhost #}
19 |   <script type="text/javascript" id="searchindexloader"></script>
20 |   {{ super() }}
21 | {% endblock %}
22 | {% block body %}
23 |   <noscript>
24 |   <div id="fallback" class="admonition warning">
25 |     <p class="last">
26 |       {% trans %}Please activate JavaScript to enable the search
27 |       functionality.{% endtrans %}
28 |     </p>
29 |   </div>
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 1 | [theme]
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 1 | {% if READTHEDOCS %}
 2 | {# Add rst-badge after rst-versions for small badge style. #}
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 4 |     <span class="rst-current-version" data-toggle="rst-current-version">
 5 |       <span class="fa fa-book"> Read the Docs</span>
 6 |       v: {{ current_version }}
 7 |       <span class="fa fa-caret-down"></span>
 8 |     </span>
 9 |     <div class="rst-other-versions">
10 |       <dl>
11 |         <dt>Versions</dt>
12 |         {% for slug, url in versions %}
13 |           <dd><a href="{{ url }}">{{ slug }}</a></dd>
14 |         {% endfor %}
15 |       </dl>
16 |       <dl>
17 |         <dt>Downloads</dt>
18 |         {% for type, url in downloads %}
19 |           <dd><a href="{{ url }}">{{ type }}</a></dd>
20 |         {% endfor %}
21 |       </dl>
22 |       <dl>
23 |         <dt>On Read the Docs</dt>
24 |           <dd>
25 |             <a href="//{{ PRODUCTION_DOMAIN }}/projects/{{ slug }}/?fromdocs={{ slug }}">Project Home</a>
26 |           </dd>
27 |           <dd>
28 |             <a href="//{{ PRODUCTION_DOMAIN }}/builds/{{ slug }}/?fromdocs={{ slug }}">Builds</a>
29 |           </dd>
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31 |       <hr/>
32 |       Free document hosting provided by <a href="http://www.readthedocs.org">Read the Docs</a>.
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/source/api_overview.rst:
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  1 | API Overview
  2 | ============
  3 | 
  4 | Fetch Robotics is committed to providing an exceptional out-of-the-box
  5 | experience for new robot owners. One of the ways in which we create a great
  6 | experience is by using standard ROS interfaces. This means that code you
  7 | might have written for other robots in the past should be easily portable
  8 | to your new robot.
  9 | 
 10 | Whenever possible, we have conformed to the
 11 | `ROS Enhancement Proposals (REPs) <http://www.ros.org/reps/rep-0000.html>`_.
 12 | These documents provide the foundation of standard ROS interfaces. In addition
 13 | to REP-compatible interfaces, we have adopted a number of the community-accepted
 14 | standard interfaces, such as those provided by the
 15 | `control_msgs <http://wiki.ros.org/control_msgs>`_ package.
 16 | 
 17 | .. _arm_api:
 18 | 
 19 | Arm and Torso
 20 | -------------
 21 | The arm and torso of the robot are controlled by
 22 | `control_msgs/FollowJointTrajectory <http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html>`_
 23 | actions. This `action interface <http://wiki.ros.org/actionlib/DetailedDescription#Action_Interface_.26_Transport_Layer>`_ is the output of packages such as MoveIt, and allows
 24 | the arm to execute a pre-defined trajectory. Three interfaces are provided:
 25 | 
 26 |  * `arm_controller/follow_joint_trajectory` to control just the seven joints of the arm.
 27 |  * `arm_with_torso_controller/follow_joint_trajectory` to control the seven joints of the arm plus the torso.
 28 |  * `torso_controller/follow_joint_trajectory` to control just the torso.
 29 | 
 30 | Only one controller is allowed to control a joint at a time.
 31 | 
 32 | .. warning::
 33 | 
 34 |     Fetch is tuned to work with smooth paths. The tuning performs best when paths are
 35 |     properly smoothed and timed, such as those generated from MoveIt! Fetch has a number
 36 |     of mechanisms in place to prevent damage from improper trajectories. Improperly
 37 |     constructed paths may cause motor or breaker shutdown.
 38 | 
 39 | In addition to the trajectory controllers, the arm is always running a gravity
 40 | compensation controller.
 41 | 
 42 | .. _base_api:
 43 | 
 44 | Base Interface
 45 | --------------
 46 | Support for mobile bases is quite standard and robust in ROS, however it is one
 47 | of the older interfaces. As such, it is one of the few interfaces which is not
 48 | action-based.
 49 | 
 50 | The mobile base subscribes to `base_controller/command`, and accepts a
 51 | `geometry_msgs/Twist <http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html>`_
 52 | message.
 53 | 
 54 | Only two fields are used in the message:
 55 | 
 56 |  * ``linear.x`` specifies the robot's forward velocity
 57 |  * ``angular.z`` specifies the robot's turning velocity
 58 | 
 59 | User applications will typically not connect directly to `base_controller/command`,
 60 | but rather to `cmd_vel`. A multiplexer is always running between `cmd_vel/teleop`
 61 | and `cmd_vel`. Whenever the deadman on the robot controller is held, `cmd_vel/teleop`
 62 | will override `cmd_vel`. The advantage of having your application publish to `cmd_vel`
 63 | rather than directly to `base_controller/command` is that you can override bad
 64 | commands by simply pressing the deadman on the robot controller.
 65 | 
 66 | The base controller implements a speed reduction when in the proximity of
 67 | obstacles. This will not entirely stop the robot if it is about to hit something,
 68 | but will prevent full speed collisions.
 69 | 
 70 | .. _head_api:
 71 | 
 72 | Head Interface
 73 | --------------
 74 | The head exposes two potential interfaces. The first is an `ActionServer <http://wiki.ros.org/actionlib#Client-Server_Interaction>`_
 75 | available on `head_controller/follow_joint_trajectory` which follows a joint trajectory as with the
 76 | arm and torso (described above).
 77 | 
 78 | The second interface is unique to the head, and allows the user to easily point the
 79 | head (and head sensors) at a point of interest. This action-based interface is
 80 | available on `head_controller/point_head`. It is of type
 81 | `control_msgs/PointHead <http://docs.ros.org/api/control_msgs/html/action/PointHead.html>`_.
 82 | Although the interface currently does not support any of the ``pointing_axis`` or ``pointing_frame``
 83 | fields, it points the `head_tilt_link` (which is very near the camera optical
 84 | axis) towards the `target` point to achieve a similar effect. A ``min_duration`` or ``max_velocity`` can also be specified.
 85 | 
 86 | .. _gripper_api:
 87 | 
 88 | Gripper Interface
 89 | -----------------
 90 | `gripper_controller/gripper_action` exposes a
 91 | `control_msgs/GripperCommand <http://docs.ros.org/api/control_msgs/html/action/GripperCommand.html>`_
 92 | ActionServer. The gripper command takes in ``position`` and ``effort`` as parameters. Generally,
 93 | the gripper is commanded to a fully closed or fully opened position, so
 94 | ``effort`` is used to limit the maximum effort. As the gripper never fully reaches
 95 | the closed position, the grasp strength will be determined by the maximum
 96 | effort.
 97 | 
 98 | .. _camera_api:
 99 | 
100 | Head Camera Interface
101 | ---------------------
102 | The head camera exposes several topics of interest:
103 | 
104 |  * `head_camera/depth_registered/points` is a `sensor_msgs/PointCloud2 <http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html>`_
105 |    which has both 3d and color data. It is published at VGA resolution (640x480)
106 |    at 15Hz.
107 |  * `head_camera/depth_downsampled/points` is a `sensor_msgs/PointCloud2 <http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html>`_
108 |    which has only 3d data. It is published at QQVGA (160x120) resolution at
109 |    15Hz and is intended primarily for use in navigation/moveit for obstacle
110 |    avoidance.
111 |  * `head_camera/depth/image_raw` is a `sensor_msgs/Image <http://docs.ros.org/api/sensor_msgs/html/msg/Image.html>`_.
112 |    This is unit16 depth image (2D) in mm . It is published at VGA resolution (640x480)
113 |    at 15Hz.
114 |  * `head_camera/depth/image` is a `sensor_msgs/Image <http://docs.ros.org/api/sensor_msgs/html/msg/Image.html>`_.
115 |    This is float depth image (2D) in m. It is published at VGA resolution (640x480)
116 |    at 15Hz.
117 |  * `head_camera/rgb/image_raw` is a `sensor_msgs/Image <http://docs.ros.org/api/sensor_msgs/html/msg/Image.html>`_.
118 |    This is just the 2d color data. It is published at VGA resolution (640x480)
119 |    at 15Hz.
120 | 
121 | .. _laser_api:
122 | 
123 | Laser Interface
124 | ---------------
125 | 
126 | `base_scan` is a `sensor_msgs/LaserScan <http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html>`_
127 | message published at 15Hz.
128 | 
129 | Note: the raw laser information as reported by the laser hardware is published to
130 | `base_scan_raw`. The information published to `base_scan` is filtered to remove
131 | shadow points.
132 | 
133 | .. _imu_api:
134 | 
135 | IMU Interface
136 | -------------
137 | 
138 | `imu` is a `sensor_msgs/Imu <http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html>`_
139 | message published at 100Hz. This message contains the linear acceleration and
140 | rotational velocities as measured by the IMU located in the base of the robot.
141 | 
142 | On Fetch robots, the gripper IMU publishes to `gripper_imu`. This is also
143 | a `sensor_msgs/Imu <http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html>`_
144 | message published at 100Hz.
145 | 
146 | The IMUs are not present in the simulated robot.
147 | 
148 | .. _resetting_breakers:
149 | 
150 | Resetting Breakers
151 | ------------------
152 | 
153 | There are 3 breakers governing power on the fetch. One each for the arm, gripper
154 | and base. If the motors are commanded to perform beyond their limits they will
155 | shut down for safety. To reset them you will either need to toggle the e-stop or
156 | use the following service calls:
157 | 
158 |  * $ rosservice call /arm_breaker false && rosservice call /arm_breaker true
159 |  * $ rosservice call /base_breaker false && rosservice call /base_breaker true
160 |  * $ rosservice call /gripper_breaker false && rosservice call /gripper_breaker true
161 | 
162 | To query the current state of the breakers, you can inspect the output of the command
163 | ``rosrun fetch_drivers read_board 0``.
164 | 


--------------------------------------------------------------------------------
/source/calibration.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Calibrating Fetch
  2 | ===========================
  3 | 
  4 | Calibrating your Fetch Research Edition Robot is essential to getting
  5 | the best performance. Fetch Robotics recommends re-calibrating the robot
  6 | after every shipping or travel excursion your robot undertakes.
  7 | 
  8 | Understanding Calibration
  9 | -------------------------
 10 | 
 11 | The `fetch_calibration` package provides a method of making sure that the
 12 | hand-eye coordination of the robot is well calibrated. Calibration involves:
 13 | 
 14 |  * Moving the arm to a series of poses
 15 |  * At each pose, recording the joint_angles reported by the
 16 |    drivers. Calibration then blinks the gripper LEDs several times to
 17 |    find their pose in the camera frame and records it.
 18 |  * Performing a non-linear optimization which adjusts joint offsets and
 19 |    the head camera pose to minimize the error between the expected pose of the
 20 |    the LEDs based on projection of the kinematics of the arm and the actual
 21 |    pose seen by the camera.
 22 |  * Updating the URDF and robot launch files with newly determined offsets.
 23 | 
 24 | The :ref:`upstart_services` that start the robot will use the launch
 25 | file in `/etc/ros/melodic/robot.launch`. Therefore, the last step in calibration
 26 | is to update that launch file and restart the drivers. Currently, the
 27 | following aspects are updated:
 28 | 
 29 |  * The URDF file is copied to /etc/ros/melodic, and the name of the file is put
 30 |    into robot.launch. The calibration offsets are updated in the URDF file.
 31 |  * The camera calibration YAML files are copied to /etc/ros/melodic, and the
 32 |    name of the files are put into robot.launch.
 33 |  * The head_camera driver has two parameters, z_offset_mm and z_scale which
 34 |    are calibrated. Their updated values are stored in robot.launch.
 35 | 
 36 | Calibrate Robot Tool
 37 | --------------------
 38 | 
 39 | The `fetch_calibration` package provides a tool called `calibrate_robot`
 40 | which fully automates tasks related to calibration. Once you have sourced
 41 | the ROS setup.bash, running `calibrate_robot` without any arguments will
 42 | show the list of valid arguments:
 43 | 
 44 | ::
 45 | 
 46 |     >$ calibrate_robot
 47 |     usage: calibrate_robot [-h] [--arm] [--base] [--install] [--reset] [--restore]
 48 |                            [--date] [--directory DIRECTORY]
 49 | 
 50 |     Calibrate the robot, update files in /etc/ros
 51 | 
 52 |     optional arguments:
 53 |       -h, --help            show this help message and exit
 54 |       --arm                 Capture arm/head calibration data
 55 |       --base                Capture base calibration data
 56 |       --install             Install new calibration to /etc/ros (restarts drivers)
 57 |       --reset               Reset the calibration to factory defaults (restarts
 58 |                             drivers)
 59 |       --restore             Restore the previous calibration
 60 |       --date                Get the timestamp of the current calibration
 61 |       --directory DIRECTORY
 62 |                             Directory to load calibration from or backup to
 63 | 
 64 | A useful command to note is the `--date` option, which will return the date
 65 | that the current calibration was generated (or 'uncalibrated' if the robot
 66 | has not yet been calibrated):
 67 | 
 68 | ::
 69 | 
 70 |     >$ calibrate_robot --date
 71 |     2015-06-06 23:20:18
 72 | 
 73 | Running Calibration
 74 | -------------------
 75 | 
 76 | .. warning::
 77 | 
 78 |     Calibration will cause the arm to move through the environment. Raise the
 79 |     torso to full extension and be sure that the robot has at least 1 meter
 80 |     of free space all around it.
 81 | 
 82 | The first step to calibrate the robot is to reset the calibration to factory
 83 | defaults:
 84 | 
 85 | ::
 86 | 
 87 |     >$ calibrate_robot --reset
 88 | 
 89 | This command might ask for your password, as it requires sudo to update the
 90 | files in /etc/ros/. This will also restart the drivers to
 91 | make the changes take effect.
 92 | 
 93 | .. warning::
 94 | 
 95 |     When calibrating, make sure that no other applications are subscribed
 96 |     to the head_camera topics. Other applications, even RVIZ, connecting
 97 |     to the head_camera driver between the restart of drivers and the start
 98 |     of calibration may adversely affect the auto_exposure settings of the
 99 |     camera.
100 | 
101 | The robot is now ready to calibrate. The following command will move the arm
102 | through a series of poses (about 100 poses) and upon completion of the calibration will update
103 | the robot configuration in /etc/ros/melodic.  This typically takes about 10 minutes to complete:
104 | 
105 | ::
106 | 
107 |     >$ calibrate_robot --arm --install
108 | 
109 | Finally, after the new calibration has been installed into /etc/ros/melodic,
110 | you can view the calibration by opening RVIZ and seeing that the robot model
111 | overlaps with the point cloud from the head camera. If for some reason, the
112 | calibration is not good, you can restart from the `--reset` command or roll
113 | back to the previous calibration with:
114 | 
115 | ::
116 | 
117 |     >$ calibrate_robot --restore
118 | 
119 | .. _torso_calibration:
120 | 
121 | Calibrating Fetch Torso
122 | -----------------------
123 | When the torso controller board is first powered, it uses measurements from two different
124 | position sensors to determine the absolute starting position of the torso.
125 | Once the absolute starting position of the torso is determined, the position measurement
126 | will retain millimeter precision as long torso remains powered.
127 | 
128 | To work properly, the two torso sensors must be calibrated together.
129 | If the sensors are not properly calibrated, the calculation of the initial torso position
130 | could be incorrect in some situations. This problem is more likely to occur if the torso is
131 | first powered when in the "up" position.
132 | A bad torso position should be easy to detect when using RVIZ since the torso position
133 | shown in RVIZ will always be more than +/-10cm different than the true torso position.
134 | 
135 | The torso sensors are calibrated in production, so they will not usually need
136 | to be recalibrated.  If there seems to be a torso positioning problem,
137 | the torso calibration tool should be first used to verify the calibration of the torso.
138 | 
139 | In release 0.7.4 of fetch_drivers package there is a tool 
140 | to verify or calibrate the torso sensors.
141 | The tool has two options: verify and calibrate.
142 | The verify option will only verify that the calibration is good,
143 | it will not change any stored calibration parameters.
144 | The calibrate option will calibrate the sensors and update the parameters
145 | stored on the torso controller.
146 | 
147 | For both options, the torso will travel through its entire range of
148 | motion while sensor data is collected.  While the tool is being run,
149 | the robot drivers will be stopped and the robot arm will not hold its position.
150 | Because of this, the arm should be tucked or soft fabric or cardboard
151 | should be placed between arm and base to avoid scratching any covers.
152 | 
153 | 
154 | Torso Calibration Procedure
155 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^
156 | .. warning::
157 |     During torso calibration the arm will not hold position.
158 |     Place cardboard or soft fabric between arm and base to avoid
159 |     scratching covers during data collection.
160 | 
161 | Follow these steps in order to verify or calibrate the torso position
162 | sensors:
163 | 
164 | 1. Move torso to lowest position, and tuck the arm.
165 | 
166 | 2. Place a protective barrier between the arm and top base cover.
167 | 
168 | 3. Disable robot drivers by running : ``sudo service robot stop``
169 | 
170 | 4. Run torso calibration tool:
171 | 
172 |   * To run calibration : ``rosrun fetch_drivers torso_calibrate calibrate``
173 |   * **OR** to verify calibration : ``rosrun fetch_drivers torso_calibrate verify``
174 | 
175 | 6. Wait for torso to collect sensor data.  The torso will move upwards in small increments through the entire range of motion.  A clicking sound will be produced by the torso while moving, and is normal.
176 | 
177 | 7. Cycle Run-stop (optional).  Sometimes tool will request that run-stop be cycled
178 |    after it completes.  Cycling run-stop will cycle power to the torso controller board,
179 |    and is required in some situations.
180 | 
181 | 8. Once tool has completed, restart robot drivers with ``sudo service robot start``
182 | 
183 | Calibration Output
184 | ^^^^^^^^^^^^^^^^^^
185 | Once the tool has completed the calibration procedure it will check the expected results of calibration.
186 | If everything checks out, the ``torso_calibrate calibrate`` will output something similar to::
187 | 
188 |   VERIFY PASSED : max sensor error of 0.0116824 is within acceptable limit
189 | 
190 | If there was a problem calculating good calibration parameters, the output might look like::
191 | 
192 |   VERIFY FAILED : max sensor error of 0.0501323 is larger than acceptable limit of 0.04
193 | 
194 | In case of failure, the torso sensor may be malfunctioning or damaged and a support ticket should be created.
195 | 
196 | .. note::
197 |   The value for max sensor error is the mismatch between the two torso sensors.
198 |   The accuracy of the torso position measurement is unrelated to this value.
199 | 
200 | Output When Verifying New Torso Calibration
201 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
202 | ``torso_calibrate verify`` will produce output stating whether sensors are well
203 | calibrated. If the sensor calibration is good, then this command will
204 | output something similar to::
205 | 
206 |   VERIFY PASSED : max sensor error of 0.0109411 is within acceptable limit
207 | 
208 | Otherwise it will produce output like::
209 | 
210 |   VERIFY FAILED : max sensor error of 0.0501323 is larger than acceptable limit of 0.04
211 | 
212 | When verification fails, run calibration produce.
213 | 


--------------------------------------------------------------------------------
/source/care_and_feeding.rst:
--------------------------------------------------------------------------------
  1 | Care And Feeding
  2 | ================
  3 | 
  4 | .. _charging:
  5 | 
  6 | Charging
  7 | --------
  8 | 
  9 | The robot can be charged by plugging the supply connector of the power
 10 | brick into the front of the robot or by docking with the robot charge
 11 | dock. When using the supply connector, make sure the "Fetch" logo is
 12 | facing up, otherwise the connector will not properly mate:
 13 | 
 14 | .. figure:: _static/charge_plug.png
 15 |    :width: 100%
 16 |    :align: center
 17 |    :figclass: align-centered
 18 | 
 19 | The connector needs roughly 100 newtons (24 lbs) of force to plug in.
 20 | If it seems the connector will not mate with this much force, check
 21 | the plug and connector for damage or foreign objects.
 22 | 
 23 | The charge indicator light on the :ref:`access_panel` indicates
 24 | the status of the battery and charging:
 25 | 
 26 | ================= =================
 27 | Charge Indicator  Meaning
 28 | ================= =================
 29 | Solid Green       Robot is fully charged
 30 | Blinking green    Robot is charging
 31 | Solid Red         Battery voltage is low
 32 | Blinking red      Charging error has occurred
 33 | ================= =================
 34 | 
 35 | The charge indicator light will flash green when the robot is charging.
 36 | When the robot is completely charged the indicator light will stay
 37 | solid green.
 38 | 
 39 | The charge indicator light will turn red when the battery voltage is low.
 40 | When the charge indicator turns red, you should recharge the robot.
 41 | If the battery voltage gets low enough, the robot will automatically
 42 | turn off.
 43 | 
 44 | In some cases, the charging circuit may detect an error condition
 45 | and will flash the charging indicator red. After about 1 minute, the
 46 | charger will attempt charging again. If the error condition persists,
 47 | a support ticket should be created to address the problem.
 48 | 
 49 | .. note::
 50 | 
 51 |    One notable charging error is caused by the :ref:`power_disconnect` being switched off.
 52 |    When the power disconnect is switch off, it disconnects the battery which prevents the
 53 |    charger from working. When the charger detects this situation it will flash both the
 54 |    charge indicator red, and the power button at the same time.
 55 | 
 56 | The robot will typically need about 3.5 hours to charge batteries from empty to
 57 | 90% capacity. It will take an additional 3 hours to charge remaining 10% of
 58 | battery capacity. While the robot does not need to get to 100% on every charge,
 59 | it is strongly recommended that the robot be fully charged at least once a week
 60 | to get the best possible life out of the batteries. Charging works whether
 61 | the robot is on or off. It is perfectly acceptable to have robot move its arm,
 62 | torso, and head while charging. However, you should not drive the
 63 | robot while charging because it is easy to misjudge the cable length
 64 | and damage the wiring or connector.
 65 | 
 66 | There are also some important rules that should be followed to prevent damage to
 67 | robot and charging supply.
 68 | 
 69 | 1. When disconnecting the supply from robot, grab plug and pull out.
 70 |    Never pull on the cable to pull out the plug.
 71 |    Also, when moving power supply brick, do not use cable to pull it around.
 72 |    All copper wire has poor tensile strength and can break with too much abuse.
 73 | 
 74 | 2. Pull straight back when disconnecting the supply plug, do not pull out at an angle.
 75 |    The connector is not designed to support large sideways forces.
 76 |    It is easy to pull in the correct direction when grabbing the plug, but
 77 |    not when pulling on the cable. This is another reason that the plug should
 78 |    never be pulled out using the cable.
 79 | 
 80 | 3. Do not attempt to drive robot while plugged into charger.
 81 |    In our experience it is too easy to misjudge the cable length.
 82 |    The robot is heavy and the drive motors can produce high torques.
 83 |    The robot can easily rip out the connector and cord even while moving at slow speeds.
 84 |    Even when turning in place, its possible to pull on the plug if the robot
 85 |    happens to drive over the cord.
 86 | 
 87 | If the supply wiring or connector is damaged, do not attempt use the damaged supply.
 88 | Instead create a support ticket to get the damage part fixed or replaced.
 89 | 
 90 | .. _batteries:
 91 | 
 92 | Batteries
 93 | ---------
 94 | 
 95 | The robot uses two large sealed lead-acid (SLA) 12V batteries. These batteries
 96 | should provide many hours of robot run time. Like most chemical battery
 97 | technologies, the amount energy the batteries can provide will decrease as they age.
 98 | Luckily, replacing the batteries is simple and relatively inexpensive.
 99 | Even so, there are few things that can done to improve battery lifetime.
100 | 
101 | 1. Keep batteries charged. Leaving SLA batteries in partially discharged state will
102 |    age the batteries more quickly, reduce useful running time.  Therefore, if the robot
103 |    is not going to be used for a prolonged period, it should first be fully charged, and
104 |    can be safely left on the charger during this period.  Alternately, after charging,
105 |    you can remove the top covers on the base and disconnect the batteries before storing
106 |    the robot.
107 | 
108 | 2. Avoid deep discharge of batteries when not necessary.
109 |    Battery will age less when discharged twice to 50% capacity than discharged
110 |    once to 100% capacity once.
111 | 
112 | 3. Fully charge battery instead of just partially charging battery between
113 |    uses.  While this is not always feasible, it will slow the rate at which
114 |    individual battery cells get out of balance.
115 | 
116 | 4. When doing heavily cycling of batteries, leave the batteries charging for an extra long
117 |    period of time, at least once a week.
118 |    Even though the batteries may be fully charged, leaving
119 |    the batteries on charger for longer period of time will help balance out
120 |    differences in individual cell voltages that accumulate over time.
121 |    This not as important when batteries are only discharged small amounts during each use.
122 | 
123 | 5. Keep robot cool.  Cool batteries age less than warm ones.
124 | 
125 | In the case where your robots batteries have reached their end of life, you can contact
126 | Fetch Robotics Support to acquire replacements.  In the mean time, you can continue to use
127 | the arm, torso and head while the robot is connected a charger.
128 | 
129 | .. warning::
130 | 
131 |     The robot is not designed to be run without a battery, so end-of-life batteries should
132 |     be left in the robot. If the robot is operated with the batteries disconnected,
133 |     electrical components could potentially be damaged and need replacement.
134 | 
135 | .. _updating:
136 | 
137 | Updating Your Robot
138 | -------------------
139 | 
140 | Your robot has been pre-configured with ROS Melodic and the appropriate
141 | APT repositories from which to fetch package updates.
142 | Upgrading to the latest packages is as easy as:
143 | 
144 | ::
145 | 
146 |   sudo apt update
147 |   sudo apt install --only-upgrade ros-melodic-*
148 | 
149 |   export ROBOTTYPE=$(hostname | awk -F'[0-9]' '{print $1}')
150 |   wget http://packages.fetchrobotics.com/binaries/$ROBOTTYPE-melodic-config.deb
151 |   sudo apt install ./$ROBOTTYPE-melodic-config.deb -y
152 | 
153 | .. warning::
154 | 
155 |     Using 'apt upgrade' and 'apt dist-upgrade' could cause critical
156 |     software, such as the kernel, to change. We can not guarantee your robot
157 |     will function after making such a change. We recommend against using these
158 |     commands unless you understand and accept the risks.
159 | 
160 | .. note::
161 | 
162 |     If your robot is running Ubuntu 14.04 with ROS Indigo, the above commands
163 |     will need to be slightly modified (i.e. ros-indigo instead of ros-melodic).
164 |     You can upgrade your robot to the currently supported version by following
165 |     the :doc:`OS upgrade procedure <indigo_to_melodic>`.
166 | 
167 | Each circuit board within the robot is equipped with a bootloader, allowing
168 | new and updated firmware to be installed. New releases of the `fetch-drivers`
169 | package may include updated firmware for your robot, which will automatically
170 | be installed when the drivers are next started (typically by the robot upstart
171 | service). When restarting the robot service, there may be a slight delay
172 | before the drivers are fully operational if a new firmware upgrade is included.
173 | 
174 | Re-Setting up apt Sources
175 | -------------------------
176 | 
177 | If someone has changed or deleted the default apt sources then the
178 | following commands will create sources.list files so that the robot can see
179 | the public ROS package server.
180 | 
181 | ::
182 |     >$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
183 | 
184 | Additionally, it is possible that the apt key has changed for the ROS
185 | package server.  The instructions for the correct key can be found
186 | `here <http://wiki.ros.org/melodic/Installation/Ubuntu#Installation.2BAC8-Ubuntu.2BAC8-Sources.Set_up_your_keys>`__.
187 | 
188 | 
189 | Cleaning Your Robot
190 | -------------------
191 | 
192 | To clean fingerprints, dirt, and smudges from the skin of Fetch and
193 | Freight use a clean soft cloth and isopropyl alcohol or window cleaner
194 | (e.g. Windex). Make sure to wet the cloth with the isopropyl alcohol
195 | or window cleaner, and then gently clean the skins of the robot.
196 | 
197 | .. warning::
198 | 
199 |     Do not spray or pour isopropyl alcohol or window cleaner directly
200 |     on the skins of the robot, this may damage the skins or worse
201 |     cause fluids to enter the robot.
202 | 
203 | To clean the sensor optics of Fetch and Freight use the lens cloth
204 | provided in the tool kit. Lens tissues or cotton swabs are also good
205 | options for cleaning the optics of the robot.
206 | 
207 | .. warning::
208 | 
209 |     Do not use window cleaner, acetone, or abrasive cloths on the sensor
210 |     lenses as this may cause damage to the lens.
211 | 


--------------------------------------------------------------------------------
/source/computer.rst:
--------------------------------------------------------------------------------
  1 | Computer Overview and Configuration
  2 | ===================================
  3 | 
  4 | Both Fetch and Freight have an internal computer which runs a
  5 | Long Term Support (LTS) release of Ubuntu and an LTS release of
  6 | ROS. These releases are intended to give long-term stability to
  7 | the system.
  8 | 
  9 | .. embed-user-accounts-start
 10 | 
 11 | Default User Account
 12 | --------------------
 13 | 
 14 | Each robot ships with a default user account, with username `fetch` and
 15 | password `robotics`. It is recommended to change the password when
 16 | setting up the robot.
 17 | 
 18 | Creating User Accounts
 19 | ----------------------
 20 | 
 21 | It is recommended that each user create their own account on the robot, especially
 22 | when developing from source. To create an account on the robot, ssh into the
 23 | robot as the `fetch` user, and run the following commands:
 24 | 
 25 | ::
 26 | 
 27 |     > sudo adduser USERNAME
 28 |     > sudo usermod -G adm,cdrom,sudo,dip,plugdev,lpadmin,sambashare USERNAME
 29 | 
 30 | .. embed-user-accounts-end
 31 | 
 32 | Networking
 33 | ----------
 34 | 
 35 | The robot has both internal and external Ethernet-based networks,
 36 | as well as an external wireless network interface. The external
 37 | network interfaces are intended for users to connect to the robot,
 38 | while the internal networks are used to send data between the
 39 | internal components of the robot.
 40 | 
 41 | The majority of communication between components onboard Fetch and
 42 | Freight happen via the internal Ethernet network. This network
 43 | is located in the 10.42.42.0/24 subnet and connects the robot
 44 | computer to the devices listed in the table below. As such,
 45 | it is important that your building networks do not use the
 46 | same subnet.
 47 | 
 48 | ====================== =============
 49 | Device                 IP Address
 50 | ====================== =============
 51 | Computer eth1          10.42.42.1
 52 | Laser range finder     10.42.42.10
 53 | Mainboard              10.42.42.42
 54 | Gripper                10.42.42.43
 55 | ====================== =============
 56 | 
 57 | There are two possible interfaces for external connecting to the robot
 58 | computer: the wireless interface and the wired interface. Most users
 59 | will prefer to use the wireless interface, however the access panel
 60 | also includes a Gigabit Ethernet interface for stationary tasks that
 61 | require higher bandwidth.
 62 | 
 63 | .. warning::
 64 | 
 65 |     Never drive the robot with an Ethernet cable attached to the access panel.
 66 | 
 67 | Connecting the Robot to a Wireless Network
 68 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 69 | The easiest way to configure the wireless networking is to connect a monitor,
 70 | keyboard, and mouse and use Ubuntu's Network Manager interface.
 71 | 
 72 | Configuring the Robot to use a Static IP for Access Panel Ethernet
 73 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 74 | For 18.04: Edit and uncomment the section for eth0 in ``/etc/netplan/99-fetch``
 75 | 
 76 | For 14.04: Edit and uncomment the section for eth0 in ``/etc/network/interfaces``
 77 | 
 78 | After making changes, restarting the robot will ensure changes for the ethernet
 79 | port take effect.
 80 | 
 81 | Troubleshooting ROS Interactions with Robot Across a Network
 82 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 83 | External networking with the robot is typically done to provide
 84 | an interface to various ROS capabilities. To ensure a working network setup
 85 | between robot and PC, reference the following guide to the ROS_MASTER_URI
 86 | and ROS_HOSTNAME environment variables. A key recommendation is to use hostnames
 87 | instead of IP addresses for ROS_MASTER_URI and ROS_HOSTNAME. This will minimize
 88 | issues with e.g. DHCP not being present or unexpectedly changing network behavior.
 89 | 
 90 | .. figure:: _static/fetch_ros_ntwk.png
 91 |    :width: 100%
 92 |    :align: center
 93 |    :figclass: align-centered
 94 | 
 95 | Note that the ROS_HOSTNAME is unneeded in the case where the robot and
 96 | computer hostnames are addressable on the local network. (E.g. via DNS
 97 | or entries in the file ``/etc/hosts``)
 98 | 
 99 | A symptom of an incomplete setup may be that some ROS commands work, while others
100 | do not. Commands (such as ``rostopic list``, ``rosservice list``) retrieve
101 | information through the connection they create,
102 | while other commands (``rostopic echo``, many components in ``rviz``) attempt
103 | to tell the robot a location to send info to via future connections.
104 | 
105 | For a more in-depth general overview of robot-to-PC networking, see also the
106 | `ROS Network Setup Tutorial <http://wiki.ros.org/ROS/NetworkSetup>`_.
107 | 
108 | Clock Synchronization
109 | ---------------------
110 | 
111 | It is recommended to install the chrony NTP client on both robots and desktops
112 | in order to keep their time synchronized. By default, robots do ship with chrony
113 | installed, but did not initially. To install chrony in Ubuntu on an older robot:
114 | 
115 | ::
116 | 
117 |     > sudo apt update
118 |     > sudo apt install chrony
119 | 
120 | .. _upstart_services:
121 | 
122 | Upstart Services
123 | ----------------
124 | 
125 | Fetch and Freight use systemd to start and manage various services on the robot.
126 | The following systemd services (aka 'units') start when the robot is booted:
127 | 
128 | =========== ===========================================
129 | Name        Description
130 | =========== ===========================================
131 | roscore     starts a roscore
132 | robot       starts robot drivers, requires roscore
133 | ps3joy      driver for PS3 robot joystick over bluetooth
134 | ps4joy      driver for PS4 robot joystick over bluetooth
135 | =========== ===========================================
136 | 
137 | Services can be restarted with the ``service`` command. For instance, to
138 | restart the robot drivers:
139 | 
140 | ::
141 | 
142 |     > sudo service robot stop
143 |     > sudo service robot start
144 | 
145 | Since roscore runs independently of the drivers, the drivers can be
146 | restarted without having to restart remote instances of RViz or similar ROS
147 | tools. Note that this also means the parameter server will not be reset
148 | when restarting the drivers, and so a roscore restart may be required
149 | if the parameter server has been corrupted by a user script.
150 | 
151 | Log Files
152 | ---------
153 | 
154 | ROS logs are created in the /var/log/ros folder.  The ``robot`` service's logs
155 | are also sent to /var/log/ros/robot.log.  This log file is a common place to
156 | check for information on errors, if the robot is not working.  The other
157 | systemd services' outputs are less often used, but can be viewed using
158 | e.g. ``journalctl -u roscore``.
159 | 
160 | Speakers and Audio
161 | ------------------
162 | 
163 | The mainboard of Fetch and Freight contains a USB audio device.
164 | While the device enumerates as a standard Linux audio device, we recommend
165 | using the `sound_play ROS package <http://wiki.ros.org/sound_play>`_ to
166 | access the speakers. ``sound_play`` is automatically started as
167 | an :ref:`upstart service<upstart_services>` when the robot starts.
168 | This service is pre-configured to have the correct group-level access
169 | to the audio system. If using the speakers directly through a Linux
170 | interface, be sure to add your user to the ``audio`` group in order
171 | to actually access the speakers.
172 | 
173 | While the ``sound_play`` ROS interface allows users to set an audio
174 | level, the audio level set is a percentage of the audio level set
175 | for Linux. To adjust the Linux audio level, use the following command
176 | and follow the on-screen instructions:
177 | 
178 | ::
179 | 
180 |     > sudo su ros -c "alsamixer -c 1"
181 | 


--------------------------------------------------------------------------------
/source/conf.py:
--------------------------------------------------------------------------------
  1 | # -*- coding: utf-8 -*-
  2 | #
  3 | # Fetch Robotics Documentation documentation build configuration file, created by
  4 | # sphinx-quickstart on Sun Feb 15 02:38:06 2015.
  5 | #
  6 | # This file is execfile()d with the current directory set to its
  7 | # containing dir.
  8 | #
  9 | # Note that not all possible configuration values are present in this
 10 | # autogenerated file.
 11 | #
 12 | # All configuration values have a default; values that are commented out
 13 | # serve to show the default.
 14 | 
 15 | import sys
 16 | import os
 17 | 
 18 | # If extensions (or modules to document with autodoc) are in another directory,
 19 | # add these directories to sys.path here. If the directory is relative to the
 20 | # documentation root, use os.path.abspath to make it absolute, like shown here.
 21 | #sys.path.insert(0, os.path.abspath('.'))
 22 | 
 23 | # -- General configuration ------------------------------------------------
 24 | 
 25 | # If your documentation needs a minimal Sphinx version, state it here.
 26 | #needs_sphinx = '1.0'
 27 | 
 28 | # Add any Sphinx extension module names here, as strings. They can be
 29 | # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 30 | # ones.
 31 | extensions = [
 32 |     'sphinx.ext.todo',
 33 | ]
 34 | todo_include_todos = True
 35 | 
 36 | # Add any paths that contain templates here, relative to this directory.
 37 | templates_path = ['_templates']
 38 | 
 39 | # The suffix of source filenames.
 40 | source_suffix = '.rst'
 41 | 
 42 | # The encoding of source files.
 43 | #source_encoding = 'utf-8-sig'
 44 | 
 45 | # The master toctree document.
 46 | master_doc = 'index'
 47 | 
 48 | # General information about the project.
 49 | project = u'Fetch & Freight Research Edition'
 50 | copyright = u'2014-2019, Fetch Robotics Inc'
 51 | 
 52 | # The version info for the project you're documenting, acts as replacement for
 53 | # |version| and |release|, also used in various other places throughout the
 54 | # built documents.
 55 | #
 56 | # The short X.Y version.
 57 | version = 'Melodic'
 58 | # The full version, including alpha/beta/rc tags.
 59 | release = 'Melodic'
 60 | 
 61 | # The language for content autogenerated by Sphinx. Refer to documentation
 62 | # for a list of supported languages.
 63 | #language = None
 64 | 
 65 | # There are two options for replacing |today|: either, you set today to some
 66 | # non-false value, then it is used:
 67 | #today = ''
 68 | # Else, today_fmt is used as the format for a strftime call.
 69 | #today_fmt = '%B %d, %Y'
 70 | 
 71 | # List of patterns, relative to source directory, that match files and
 72 | # directories to ignore when looking for source files.
 73 | exclude_patterns = [
 74 |                     # Note: these 5 files are included in hardware overview, they
 75 |                     #       should not be processed separately.
 76 |                     "electrical.rst",
 77 |                     "mechanical_spec.rst",
 78 |                     "mechanism_terminology.rst",
 79 |                     "motion_control.rst",
 80 |                     "sensors.rst"
 81 |                    ]
 82 | 
 83 | # The reST default role (used for this markup: `text`) to use for all
 84 | # documents.
 85 | #default_role = None
 86 | 
 87 | # If true, '()' will be appended to :func: etc. cross-reference text.
 88 | #add_function_parentheses = True
 89 | 
 90 | # If true, the current module name will be prepended to all description
 91 | # unit titles (such as .. function::).
 92 | #add_module_names = True
 93 | 
 94 | # If true, sectionauthor and moduleauthor directives will be shown in the
 95 | # output. They are ignored by default.
 96 | #show_authors = False
 97 | 
 98 | # The name of the Pygments (syntax highlighting) style to use.
 99 | pygments_style = 'sphinx'
100 | 
101 | # A list of ignored prefixes for module index sorting.
102 | #modindex_common_prefix = []
103 | 
104 | # If true, keep warnings as "system message" paragraphs in the built documents.
105 | #keep_warnings = False
106 | 
107 | 
108 | # -- Options for HTML output ----------------------------------------------
109 | #import sphinx_rtd_theme
110 | 
111 | # The theme to use for HTML and HTML Help pages.  See the documentation for
112 | # a list of builtin themes.
113 | #html_theme = 'default'
114 | html_theme = "sphinx_rtd_theme"
115 | 
116 | # Theme options are theme-specific and customize the look and feel of a theme
117 | # further.  For a list of options available for each theme, see the
118 | # documentation.
119 | #html_theme_options = {}
120 | 
121 | # Add any paths that contain custom themes here, relative to this directory.
122 | html_theme_path = ['_themes',]
123 | #html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
124 | 
125 | # The name for this set of Sphinx documents.  If None, it defaults to
126 | # "<project> v<release> documentation".
127 | #html_title = None
128 | 
129 | # A shorter title for the navigation bar.  Default is the same as html_title.
130 | #html_short_title = None
131 | 
132 | # The name of an image file (relative to this directory) to place at the top
133 | # of the sidebar.
134 | #html_logo = None
135 | 
136 | # The name of an image file (within the static path) to use as favicon of the
137 | # docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
138 | # pixels large.
139 | #html_favicon = None
140 | 
141 | # Add any paths that contain custom static files (such as style sheets) here,
142 | # relative to this directory. They are copied after the builtin static files,
143 | # so a file named "default.css" will overwrite the builtin "default.css".
144 | html_static_path = ['_static']
145 | 
146 | html_context = {
147 |   "display_github": True,
148 |   "github_user": "fetchrobotics",
149 |   "github_repo": "docs",
150 |   "github_version": "master/source/",
151 |   "conf_py_path": "",
152 |   "source_suffix": source_suffix,
153 |   "css_files": ['_static/override.css']
154 | }
155 | 
156 | # Add any extra paths that contain custom files (such as robots.txt or
157 | # .htaccess) here, relative to this directory. These files are copied
158 | # directly to the root of the documentation.
159 | #html_extra_path = []
160 | 
161 | # If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
162 | # using the given strftime format.
163 | #html_last_updated_fmt = '%b %d, %Y'
164 | 
165 | # If true, SmartyPants will be used to convert quotes and dashes to
166 | # typographically correct entities.
167 | #html_use_smartypants = True
168 | 
169 | # Custom sidebar templates, maps document names to template names.
170 | #html_sidebars = {}
171 | 
172 | # Additional templates that should be rendered to pages, maps page names to
173 | # template names.
174 | #html_additional_pages = {}
175 | 
176 | # If false, no module index is generated.
177 | #html_domain_indices = True
178 | 
179 | # If false, no index is generated.
180 | #html_use_index = True
181 | 
182 | # If true, the index is split into individual pages for each letter.
183 | #html_split_index = False
184 | 
185 | # If true, links to the reST sources are added to the pages.
186 | #html_show_sourcelink = True
187 | 
188 | # If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
189 | #html_show_sphinx = True
190 | 
191 | # If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
192 | #html_show_copyright = True
193 | 
194 | # If true, an OpenSearch description file will be output, and all pages will
195 | # contain a <link> tag referring to it.  The value of this option must be the
196 | # base URL from which the finished HTML is served.
197 | #html_use_opensearch = ''
198 | 
199 | # This is the file name suffix for HTML files (e.g. ".xhtml").
200 | #html_file_suffix = None
201 | 
202 | # Output file base name for HTML help builder.
203 | htmlhelp_basename = 'FetchRoboticsDocumentationdoc'
204 | 
205 | 
206 | # -- Options for LaTeX output ---------------------------------------------
207 | 
208 | latex_elements = {
209 | # The paper size ('letterpaper' or 'a4paper').
210 | #'papersize': 'letterpaper',
211 | 
212 | # The font size ('10pt', '11pt' or '12pt').
213 | #'pointsize': '10pt',
214 | 
215 | # Additional stuff for the LaTeX preamble.
216 | #'preamble': '',
217 | }
218 | 
219 | # Grouping the document tree into LaTeX files. List of tuples
220 | # (source start file, target name, title,
221 | #  author, documentclass [howto, manual, or own class]).
222 | latex_documents = [
223 |   ('index', 'FetchRobotics.tex', u'Fetch Robotics',
224 |    u'Fetch Robotics Inc', 'manual'),
225 | ]
226 | 
227 | # The name of an image file (relative to this directory) to place at the top of
228 | # the title page.
229 | #latex_logo = None
230 | 
231 | # For "manual" documents, if this is true, then toplevel headings are parts,
232 | # not chapters.
233 | #latex_use_parts = False
234 | 
235 | # If true, show page references after internal links.
236 | #latex_show_pagerefs = False
237 | 
238 | # If true, show URL addresses after external links.
239 | #latex_show_urls = False
240 | 
241 | # Documents to append as an appendix to all manuals.
242 | #latex_appendices = []
243 | 
244 | # If false, no module index is generated.
245 | #latex_domain_indices = True
246 | 
247 | 
248 | # -- Options for manual page output ---------------------------------------
249 | 
250 | # One entry per manual page. List of tuples
251 | # (source start file, name, description, authors, manual section).
252 | man_pages = [
253 |     ('index', 'fetchrobotics', u'Fetch Robotics Documentation',
254 |      [u'Fetch Robotics Inc'], 1)
255 | ]
256 | 
257 | # If true, show URL addresses after external links.
258 | #man_show_urls = False
259 | 
260 | 
261 | # -- Options for Texinfo output -------------------------------------------
262 | 
263 | # Grouping the document tree into Texinfo files. List of tuples
264 | # (source start file, target name, title, author,
265 | #  dir menu entry, description, category)
266 | texinfo_documents = [
267 |   ('index', 'FetchRobotics', u'Fetch Robotics Documentation',
268 |    u'Fetch Robotics Inc', 'FetchRobotics', 'One line description of project.',
269 |    'Miscellaneous'),
270 | ]
271 | 
272 | # Documents to append as an appendix to all manuals.
273 | #texinfo_appendices = []
274 | 
275 | # If false, no module index is generated.
276 | #texinfo_domain_indices = True
277 | 
278 | # How to display URL addresses: 'footnote', 'no', or 'inline'.
279 | #texinfo_show_urls = 'footnote'
280 | 
281 | # If true, do not generate a @detailmenu in the "Top" node's menu.
282 | #texinfo_no_detailmenu = False
283 | 


--------------------------------------------------------------------------------
/source/docking.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Auto Docking
  2 | ======================
  3 | 
  4 | Fetch Robotics has released a ROS package for automatically docking your robot
  5 | with a Fetch charging dock. This package uses the scanning laser range finder
  6 | to detect the profile of the charge dock and steers the robot onto the dock.
  7 | Since the profile of the charge dock must be clearly visible, it is important
  8 | that there is separation between docks and any sort of laser-height obstacle
  9 | on either side of the dock.
 10 | 
 11 | .. warning::
 12 | 
 13 |     Charge dock installation must follow the specifications!
 14 | 
 15 | Installing fetch_auto_dock
 16 | --------------------------
 17 | 
 18 | To install the package:
 19 | 
 20 | ::
 21 | 
 22 |     sudo apt-get update
 23 |     sudo apt-get install ros-indigo-fetch-auto-dock
 24 | 
 25 | Running the Docking Node
 26 | -------------------------
 27 | 
 28 | To start the auto docking node in a demonstration mode:
 29 | 
 30 | ::
 31 | 
 32 |     roslaunch fetch_auto_dock auto_dock.launch
 33 | 
 34 | This will bring up three ROS nodes. The first ROS node is the auto docking action
 35 | server. This node can be asked to dock with a charging dock through a ROS action
 36 | interface. A second and third nodes monitor the PS3 joystick and can trigger docking
 37 | and undocking as described below:
 38 | 
 39 |  * To dock your robot, point the robot at the charge dock and press the "circle"
 40 |    button on the PS3 controller. Docking works best when the robot is about 0.75-1.0
 41 |    meters away from the dock and pointed directly at it, however docking should work
 42 |    from a variety of angles.
 43 |  * To undock your robot when it is on a charge dock, press the "square" button
 44 |    on the PS3 joystick and the robot will back off the dock and then turn in place
 45 |    so it is pointed away from the charge dock.
 46 | 
 47 | .. warning::
 48 | 
 49 |     The docking controller does not have collision avoidance. Do not
 50 |     leave obstacles on the charge dock.
 51 | 
 52 | Auto Docking Programmatically
 53 | -----------------------------
 54 | 
 55 | The auto dock node exposes a ROS `action interface <http://wiki.ros.org/actionlib/DetailedDescription#Action_Interface_.26_Transport_Layer>`_
 56 | which can be used to dock the robot. This action interface is also used by the
 57 | demonstration python script.
 58 | 
 59 | This action is in the `dock` namespace and accepts a
 60 | `fetch_auto_dock_msgs/Dock <https://github.com/fetchrobotics/fetch_msgs/blob/master/fetch_auto_dock_msgs/action/Dock.action>`_
 61 | action message.
 62 | 
 63 | There are several fields in the goal:
 64 | 
 65 |  * ``dock_pose`` is a geometry_msgs/PoseStamped message which specifies where the
 66 |    dock center is located. This can be in any valid frame as the action server
 67 |    node will use TF to transform the pose into the odometry frame.
 68 |  * ``use_move_base`` is not currently implemented.
 69 | 
 70 | The result includes a single boolean ``docked`` which tells whether the robot has
 71 | actually docked and is charging.
 72 | 
 73 | The following Python code will dock the robot with a dock that is 1.0 meters
 74 | in front of it:
 75 | 
 76 | ::
 77 | 
 78 |     #!/usr/bin/env python
 79 |     import rospy
 80 |     import actionlib
 81 |     from fetch_auto_dock_msgs.msg import DockAction, DockGoal
 82 | 
 83 |     # Create a ROS node
 84 |     rospy.init_node("dock_the_robot")
 85 | 
 86 |     # Create an action client
 87 |     client = actionlib.SimpleActionClient("/dock", DockAction)
 88 |     client.wait_for_server()
 89 | 
 90 |     # Create and send a goal
 91 |     goal = DockGoal()
 92 |     goal.dock_pose.header.frame_id = "base_link"
 93 |     goal.dock_pose.pose.position.x = 1.0
 94 |     goal.dock_pose.pose.orientation.z = 1.0
 95 |     client.send_goal(goal)
 96 | 
 97 | The fetch_auto_dock node also provides an ``undock`` action interface which
 98 | can be used to undock the robot from the charge dock. The goal to undock
 99 | has a single field
100 | 
101 |  * ``rotate_in_place`` if set to true, the robot will back off the dock and
102 |    then rotate 180 degrees so it is facing off the dock. This can be very
103 |    useful since navigation probably cannot get the robot off the dock when
104 |    it is facing at the dock.
105 | 


--------------------------------------------------------------------------------
/source/electrical.rst:
--------------------------------------------------------------------------------
  1 | Electrical Overview
  2 | -------------------
  3 | 
  4 | Internally, Fetch and Freight have a number of circuit boards,
  5 | communication buses, and other components which
  6 | handle power distribution and motion control. The system
  7 | comprises:
  8 | 
  9 |  * The robot computer, running ROS, sends commands to the mainboard
 10 |    and gripper board over an Ethernet interface. This same Ethernet
 11 |    interface is used to communicate with the scanning laser range
 12 |    finder in the base of the robot. The ``fetch_drivers`` package
 13 |    provides an interface from the robot computer to the mainboard,
 14 |    and the default gripper.
 15 | 
 16 | \
 17 | 
 18 |  * The mainboard then communicates with the various motor controller
 19 |    boards (MCB) located throughout the robot. Communication with the
 20 |    MCBs is done over several half-duplex RS-485 buses. In addition
 21 |    to communications-related tasks, the mainboard also controls a
 22 |    number of electronic circuit breakers and also carries the charger
 23 |    circuitry which charges the batteries.
 24 | 
 25 | \
 26 | 
 27 |  * Each joint has a dedicated MCB with a dedicated microcontroller
 28 |    and an RS-485 connection. The arm MCBs all share one bus while
 29 |    all other MCBs share the other RS-485 bus. The microcontroller on
 30 |    each MCB is where the real-time control loops run.
 31 | 
 32 | 
 33 | .. figure:: _static/communications.png
 34 |    :width: 80%
 35 |    :align: center
 36 |    :figclass: align-centered
 37 | 
 38 | Fetch and Freight both have two 12V Sealed Lead Acid (SLA) batteries located
 39 | in the robot base. The batteries are connected in series, providing the nominal
 40 | 24V power rail for the robot. These batteries are kept charged by the mainboard (see
 41 | :ref:`charging`).
 42 | 
 43 | .. _breakers:
 44 | 
 45 | Breakers
 46 | ++++++++
 47 | 
 48 | There are several breakers within the robot. These are designed in order to prevent
 49 | damage to the robot if cabling should become worn or shorted out, or in the case
 50 | of sudden, unexpected overload of a joint. The table below describes each breaker,
 51 | using the names that are used in ``fetch_drivers`` and diagnostics:
 52 | 
 53 | ================ ========================================================
 54 | Breaker Name     Usage
 55 | ================ ========================================================
 56 | supply_breaker   Limits current between the charging inlet and mainboard.
 57 | battery_breaker  Limits current between the mainboard and batteries.
 58 | computer_breaker Limits current delivered to the robot computer.
 59 | base_breaker     Limits current delivered to base MCBs, as well as torso
 60 |                  and head MCBs on Fetch.
 61 | arm_breaker      Limits current delivered to the MCBs located in the arm
 62 | gripper_breaker  Limits current delivered to the gripper.
 63 | ================ ========================================================
 64 | 
 65 | When a breaker is disabled or tripped, power will no longer flow to the connected
 66 | devices. In the case of MCBs, this means that they will not be able to communicate
 67 | with the mainboard.
 68 | 
 69 | .. figure:: _static/power_distribution.png 
 70 |    :width: 80%
 71 |    :align: center
 72 |    :figclass: align-centered
 73 | 
 74 | 
 75 | .. _power_disconnect:
 76 | 
 77 | Power Disconnect Switch
 78 | +++++++++++++++++++++++
 79 | 
 80 | The power disconnect is on the lower back of the robot. This switch
 81 | cuts the power between the battery and the mainboard. It also acts as
 82 | a breaker, limiting the total current that can be delivered by the
 83 | batteries.
 84 | 
 85 | .. figure:: _static/power_disconnect.png
 86 |    :width: 80%
 87 |    :align: center
 88 |    :figclass: align-centered
 89 | 
 90 | Runstop
 91 | +++++++
 92 | 
 93 | The runstop is used to stop all operation of the joints. It works by disabling
 94 | the base, arm and gripper breakers. When the runstop is pressed, the drivers
 95 | will not be able to communicate with the MCBs, and thus their position and
 96 | other data will not update in RVIZ nor the runtime monitor.
 97 | 
 98 | .. _access_panel:
 99 | 
100 | Access Panel
101 | ++++++++++++
102 | 
103 | Fetch and Freight both have an access panel with 2 USB, an Ethernet, and an
104 | HD Video port. All of these ports are connected directly to the onboard
105 | computer. In addition, Fetch has an extra USB port on the head.
106 | 
107 | .. figure:: _static/access_panel_numbered.png
108 |    :width: 100%
109 |    :align: center
110 |    :figclass: align-centered
111 | 
112 | ====== =========================
113 | Item # Item Name                
114 | ====== =========================
115 |  1     HD Video Port       
116 |  2     USB Port 1
117 |  3     USB Port 2
118 |  4     Ethernet Port
119 |  5     Power Button
120 |  6     Charge Indicator Light
121 | ====== =========================
122 | 
123 | The access panel is also the location of the power button which turns
124 | the robot on or off. This switch is connected to the mainboard and
125 | will only work if the power disconnect switch (the red one on the
126 | lower back of the robot) is in the ON position. Pressing the power
127 | button until it lights up with boot the robot, including the computer.
128 | To turn the robot off, press and hold the illuminated power button on
129 | the access panel until it starts blinking. The button will continue
130 | blinking until the computer has successfully shut down, and then power
131 | will be disconnected.
132 | 


--------------------------------------------------------------------------------
/source/faq.rst:
--------------------------------------------------------------------------------
 1 | Frequently Asked Questions
 2 | ==========================
 3 | 
 4 | How can I cite Fetch or Freight in an Academic Paper?
 5 | -----------------------------------------------------
 6 | 
 7 | We recommend citing our `workshop paper on Fetch & Freight <http://docs.fetchrobotics.com/FetchAndFreight2016.pdf>`_:
 8 | 
 9 | ::
10 | 
11 |    Fetch & Freight: Standard Platforms for Service Robot Applications
12 |    Melonee Wise, Michael Ferguson, Derek King, Eric Diehr and David Dymesich
13 |    Workshop on Autonomous Mobile Service Robots, held at the
14 |    2016 International Joint Conference on Artificial Intelligence, NYC, July 2016
15 | 
16 | Why won't my robot do anything at all (charge, move, etc...)?
17 | -------------------------------------------------------------
18 | * Verify the red "breaker switch" on the back of the robot below the air vents is in the "ON" position
19 | 
20 | .. figure:: _static/power_disconnect.png
21 |    :width: 50%
22 |    :align: center
23 |    :figclass: align-centered
24 | 
25 | * If this did not solve your problem please contact Fetch Support
26 | 
27 | 
28 | Why won't my robot turn on when I push the power button?
29 | --------------------------------------------------------
30 | 
31 | * If the charging light (#6 in figure below) is red Please try Charging the robot
32 | 
33 | .. figure:: _static/access_panel_numbered.png
34 |    :width: 50%
35 |    :align: center
36 |    :figclass: align-centered
37 | 
38 | * If this did not solve your problem please contact Fetch Support
39 | 
40 | 
41 | Why won't my robot move when I use my PS3/PS4 joystick?
42 | -------------------------------------------------------
43 | 
44 | * If ring around the on button (#5 in figure below) is not illuminated please press the power button to turn on your robot (give it some time to boot and then try again)
45 | 
46 | .. figure:: _static/access_panel_numbered.png
47 |    :width: 50%
48 |    :align: center
49 |    :figclass: align-centered
50 | 
51 | * PS4 controller: If the LED on the front of the controller is not solid blue, then the controller
52 |   is not connected. Press the middle PS4 button to connect.
53 | 
54 |   * If the PS4 controller won't connect, you can try re-pairing it. :doc:`See these instructions </ps4>`.
55 | 
56 | * PS3 controller: If there are no red lights illuminated on the front of the PS3 controller then press the round button in the center of the controller to turn on the controller (when it is ready to use it will vibrate) (Red lights will be in one of the 4 holes to the left of the charging port in the following picture.)
57 | 
58 | .. figure:: _static/joystick_numbered2.png
59 |    :width: 50%
60 |    :align: center
61 |    :figclass: align-centered
62 | 
63 | * Please verify that the runstop (seen below) has not been pressed.
64 | 
65 |    - If it is pressed twist it to turn it off
66 | 
67 | .. figure:: _static/runstop_panel.jpg
68 |    :width: 50%
69 |    :align: center
70 |    :figclass: align-centered
71 | 
72 | * If this did not solve your problem please contact Fetch Support
73 | 
74 | 
75 | The robot will not move and/or slows down near obstacles, why?
76 | --------------------------------------------------------------
77 | 
78 | * Please be aware, The robot's max speed is reduced when the laser sees an object directly in front of it. Despite this reduction the robot will always be able to travel at least 0.1 m/s even when the robot is almost touching an obstacle so it can not get locked down. This behavior is at the driver level.
79 | 
80 | * If you are autonomously navigating and the robot stops completely you should check your costmap and/or navigation algorithms
81 | 
82 | * If you are using the controller, it is on/connected and the robot stops please contact Fetch Support
83 | 
84 | 
85 | I just sent a trajectory command to the arm and now it won't gravity compensate, help?
86 | --------------------------------------------------------------------------------------
87 | * Please verify that the trajectory command you sent to the arm was smoothed and doesn't exceed the velocity/acceleration limits of the arm. Otherwise when the arm exceeds its limits a breaker will trip cutting power to the arm
88 | 
89 |    - To reset the breakers please follow this guide (:ref:`resetting_breakers`)
90 | 
91 | * If this did not solve your problem please contact Fetch Support
92 | 


--------------------------------------------------------------------------------
/source/fetch_pbd.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Fetch Programming by Demonstration
  2 | ============================================
  3 | 
  4 | The `fetch_pbd <https://github.com/fetchrobotics/fetch_pbd>`_ package is based on PR2 Programming by Demonstration. This version is for Fetch. It will not work on Freight because Freight does not have an arm.
  5 | 
  6 | The original `PR2 Programming by Demonstration <https://github.com/PR2/pr2_pbd>`_ was done by `Maya Cakmak <http://www.mayacakmak.com/>`_ and the `Human-Centered Robotics Lab <https://hcrlab.cs.washington.edu>`_ at the University of Washington.
  7 | 
  8 | System Requirements
  9 | -------------------
 10 | This PbD is designed for Ubuntu 14.04 and ROS Indigo.
 11 | 
 12 | Installing from Source
 13 | ----------------------
 14 | 
 15 | Clone the repository and build on the robot:
 16 | 
 17 | ::
 18 | 
 19 |     >$ cd ~/catkin_ws/src
 20 |     >$ git clone https://github.com/fetchrobotics/fetch_pbd.git
 21 |     >$ cd ~/catkin_ws
 22 |     >$ catkin_make
 23 | 
 24 | Running
 25 | -------
 26 | 
 27 | Run these commands on a terminal on the Fetch:
 28 | 
 29 | ::
 30 | 
 31 |     >$ source ~/catkin_ws/devel/setup.bash
 32 |     >$ roslaunch fetch_pbd_interaction pbd.launch
 33 | 
 34 | You can run the backend without the "social gaze" head movements or without the sounds by passing arguments to the launch file:
 35 | 
 36 | ::
 37 | 
 38 |     >$ source ~/catkin_ws/devel/setup.bash
 39 |     >$ roslaunch fetch_pbd_interaction pbd.launch social_gaze:=false play_sound:=false
 40 | 
 41 | You can also pass arguments to the launch file to save your actions to a json file or load them from a json file.
 42 | This behaviour is a bit complicated. It is recommended that you specify the full path to files or else it will look in your .ros folder.
 43 | If you specify a from_file then actions will be loaded from that file. They will replace the ones in your session database.
 44 | Whatever was in your session database will get stored in a timestamped file in your .ros folder (not overwritten).
 45 | If you specify a to_file then whatever is in your current session file be saved to that file.
 46 | 
 47 | ::
 48 | 
 49 |     >$ source ~/catkin_ws/devel/setup.bash
 50 |     >$ roslaunch fetch_pbd_interaction pbd.launch from_file:=/full/path/from.json to_file:=/full/path/to.json
 51 | 
 52 | Using the GUI
 53 | -------------
 54 | 
 55 | In your browser go to ROBOT_HOSTNAME:8080 in your browser to use the GUI. This can be used on mobile as well. The mobile version does not show the visualizer, but can be useful for saving/deleting
 56 | 
 57 | The main page lists all the available actions.
 58 | 
 59 | .. figure:: _static/fetch_pbd_home_screen.png
 60 |    :width: 100%
 61 |    :align: center
 62 |    :figclass: align-centered
 63 | 
 64 | You can directly run/copy/delete actions from the main page. Or hit the "Edit" button to see more information on that action.
 65 | 
 66 | On the "Current Action" screen, most of the buttons are pretty self-explanatory. You can execute the entire action using the "Run" button at the bottom of the screen. This will execute all of the primitives in the order they appear in the Primitive List. You can click on a specific primitive (either the marker or the list item), to highlight the primitive.
 67 | 
 68 | .. figure:: _static/fetch_pbd_select.png
 69 |    :width: 100%
 70 |    :align: center
 71 |    :figclass: align-centered
 72 | 
 73 | You can show/hide the markers for each primitive by clicking the marker icon for the primitive in the Primitive List.
 74 | 
 75 | .. figure:: _static/fetch_pbd_hide_marker.png
 76 |    :width: 100%
 77 |    :align: center
 78 |    :figclass: align-centered
 79 | 
 80 | You can change the order of the primitives by dragging them to a new position in the list.
 81 | 
 82 | .. figure:: _static/fetch_pbd_reorder.png
 83 |    :width: 100%
 84 |    :align: center
 85 |    :figclass: align-centered
 86 | 
 87 | You can edit the position and orientation of certain primitives by clicking the edit icon or by moving the interactive marker.
 88 | 
 89 | .. figure:: _static/fetch_pbd_edit.png
 90 |    :width: 100%
 91 |    :align: center
 92 |    :figclass: align-centered
 93 | 
 94 | You can change the frame that certain primitives are relative to by right-clicking the marker.
 95 | 
 96 | .. figure:: _static/fetch_pbd_change_frame.png
 97 |    :width: 100%
 98 |    :align: center
 99 |    :figclass: align-centered
100 | 
101 | You can also change the name of the action.
102 | 
103 | .. figure:: _static/fetch_pbd_rename.png
104 |    :width: 100%
105 |    :align: center
106 |    :figclass: align-centered
107 | 
108 | Code Interface
109 | --------------
110 | 
111 | You can also access the actions you've programmed through code. You still need to run pbd_backend.launch.
112 | 
113 | ::
114 | 
115 |     >$ source ~/catkin_ws/devel/setup.bash
116 |     >$ rosrun fetch_pbd_interaction demo.py
117 | 
118 | System Overview
119 | ---------------
120 | 
121 | **Interaction Node:**
122 | The pbd_interaction_node.py handles the interaction between speech/GUI and the rest of the system. Changes happen through the update loop in interaction.py and also through the callbacks from speech/GUI commands. interaction.py also subscribes to updates from the pbd_world_node.py, which notifies it of changes in objects in the world. Through callbacks and the update loop, interaction.py hooks in to session.py. session.py handles creating actions and primitives and saving them to the database.
123 | 
124 | **Arm Control Node:**
125 | The pbd_arm_control_node.py is how the robot's arm is controlled to execute actions/primitives. It provides a lower level service interface to move the arm. The interaction node interacts with this through the interface in robot.py.
126 | 
127 | **World Node:**
128 | The pbd_world_node.py handles the robot's perception of the world. Other nodes ask the world node about the state of the world and can both send and subscribe to updates to the world. Its main function is to provide a list of objects currently in the scene.
129 | 
130 | **Social Gaze Node:**
131 | The social_gaze_server.py handles the movements of the robot's head. This is also controlled through the robot.py interface. The sounds are also provided through this interface.
132 | 


--------------------------------------------------------------------------------
/source/gazebo.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Gazebo Simulation
  2 | ===========================
  3 | 
  4 | Fetch and Freight have simulated counterparts using the
  5 | `Gazebo Simulator <http://gazebosim.org>`_ which you can install locally on
  6 | your system.
  7 | 
  8 | The Construct Sim provides a way to simulate a Fetch in Gazebo via
  9 | *their cloud service* using a single
 10 | `ROSJect link <https://rds.theconstructsim.com/tc_projects/
 11 | use_project_share_link/4ba9621c-e546-4353-848e-dc7326c8e467>`_ in case you
 12 | want to avoid the installation process.
 13 | 
 14 | Installation
 15 | ------------
 16 | 
 17 | Before installing the simulation environment, make sure your desktop
 18 | is setup with a standard installation of
 19 | `ROS Indigo on Ubuntu 14.04 <http://wiki.ros.org/indigo/Installation/Ubuntu>`_ or
 20 | `ROS Melodic on Ubuntu 18.04 <http://wiki.ros.org/melodic/Installation/Ubuntu>`_.
 21 | Once your APT repositories are configured, you can install the simulator:
 22 | 
 23 | ::
 24 | 
 25 |     >$ sudo apt-get update
 26 |     >$ sudo apt-get install ros-$ROS_DISTRO-fetch-gazebo-demo
 27 | 
 28 | Starting the Simulator
 29 | ----------------------
 30 | 
 31 | .. warning::
 32 | 
 33 |     Never run the simulator on the robot. Simulation requires that
 34 |     the ROS parameter use_sim_time be set to true, which will cause
 35 |     the robot drivers to stop working correctly. In addition, be sure
 36 |     to never start the simulator in a terminal that has the ROS_MASTER_URI
 37 |     set to your robot for the same reasons.
 38 | 
 39 | The ``fetch_gazebo`` and ``fetch_gazebo_demo`` packages provide the Gazebo
 40 | environment for Fetch. ``fetch_gazebo`` includes several launch files:
 41 | 
 42 |  * simulation.launch spawns a robot in an empty world.
 43 |  * playground.launch spawns a robot inside a lab-like test environment.
 44 |    This environment has some tables with items that may be picked up
 45 |    and manipulated. It also has a pre-made map which can be used to
 46 |    test out robot navigation and some simple demonstrations of object
 47 |    grasping.
 48 | 
 49 | To start the simplest environment:
 50 | 
 51 | ::
 52 | 
 53 |     >$ roslaunch fetch_gazebo simulation.launch
 54 | 
 55 | .. figure:: _static/gazebo.png
 56 |    :width: 100%
 57 |    :align: center
 58 |    :figclass: align-centered
 59 | 
 60 | Note that all of the environments will prepare the robot by tucking the
 61 | arm and giving the head an initial command.
 62 | 
 63 | Simulating a Freight
 64 | --------------------
 65 | 
 66 | Freight uses the same launch files as Fetch, simply pass the robot argument:
 67 | 
 68 | ::
 69 | 
 70 |     >$ roslaunch fetch_gazebo simulation.launch robot:=freight
 71 | 
 72 | Visualizing with RVIZ
 73 | ---------------------
 74 | 
 75 | Even though Gazebo has a graphical visualization, RVIZ is still the preferred
 76 | tool for interacting with your robot.
 77 | 
 78 | .. include:: visualization.rst
 79 |    :start-after: embed-rviz-start
 80 |    :end-before: embed-rviz-end
 81 | 
 82 | .. _mm_demo:
 83 | 
 84 | Running the Mobile Manipulation Demo
 85 | ------------------------------------
 86 | 
 87 | There is a fully integrated demo showing navigation, perception
 88 | and MoveIt! working together on the robot in simulation. To run the
 89 | demo, start Gazebo simulator with the playground:
 90 | 
 91 | ::
 92 | 
 93 |     >$ roslaunch fetch_gazebo playground.launch
 94 | 
 95 | Wait until the simulator is fully running and then run the demo
 96 | launch file:
 97 | 
 98 | ::
 99 | 
100 |     >$ roslaunch fetch_gazebo_demo demo.launch
101 | 
102 | This will start:
103 | 
104 |  * fetch_nav.launch - this is the navigation stack with a pre-built map of
105 |    the environment.
106 |  * move_group.launch - this is the MoveIt configuration which can plan for
107 |    the movement of the arm.
108 |  * basic_grasping_perception - this is a simple demo found in the
109 |    ``simple_grasping`` package which segments objects on tables and computes
110 |    grasps for them.
111 |  * demo.py - this our specific demo which navigates the robot from the
112 |    starting pose in Gazebo to the table, raises the torso, lowers the head
113 |    to look at the table, and then runs perception to generate a goal for
114 |    MoveIt. The arm will then grasp the cube on the table, tuck the arm and
115 |    lower the torso. Once the robot is back in this tucked configuration,
116 |    the navigation stack will be once again called to navigate into the room
117 |    with the countertop where the robot will place the cube on the other
118 |    table.
119 | 
120 | Launch it on ROSDS
121 | -------------------------
122 | 
123 | .. figure:: _static/rosds.png
124 |    :width: 100%
125 |    :align: center
126 |    :figclass: align-centered
127 | 
128 | As mentioned beforehand, you can run the whole simulation on the
129 | `ROS Development Studio <http://www.theconstructsim.com/rds-ros-development-studio/>`_,
130 | by The Construct, with a single click. The advantages include:
131 | 
132 |  * No installation required
133 |  * Any operating system can be used to program Fetch robots with ROS
134 |  * You can start testing and programming Fetch robots in 30 seconds!
135 | 
136 | In case you want to try it, you can just press the **Run on ROSDS** button
137 | to start:
138 | 
139 | .. figure:: _static/run_on_rosds.png
140 |    :width: 200px
141 |    :target: https:\/\/rds.theconstructsim.com\/tc_projects\/use_project_share_link\/4ba9621c-e546-4353-848e-dc7326c8e467
142 | 
143 | Simulation vs. Real Robots
144 | --------------------------
145 | The simulated robot may not be identical to the real robot. In fact, the
146 | real robot is likely quite a bit better behaved. Also:
147 | 
148 |  * The simulator does not include the IMU. Therefore, there is also no
149 |    base odometry fusion with IMU data, and the base_controller directly
150 |    publishes all required TF data directly.
151 |  * The simulated robot does not have the head_camera/depth/* topics due
152 |    to limitations within the Gazebo plugins.
153 |  * The simulated robot arm is not as well tuned as the real robot. The real
154 |    arm will not wobble the way the simulated arm does when executing a
155 |    trajectory. The simulated robot has also not been tuned with various
156 |    payloads. It is best used for examining the workspace of the robot,
157 |    and not the actual controls-related performance of the arm.
158 |  * The fingers of the real robot gripper are driven by the same leadscrew,
159 |    so the object will always be grasped in the center of the gripper. With
160 |    the simulated robot, the fingers are independently actuated, and so the
161 |    object may drift to one side.
162 | 


--------------------------------------------------------------------------------
/source/in_the_box.rst:
--------------------------------------------------------------------------------
  1 | Getting Started
  2 | ===============
  3 | 
  4 | 
  5 | What's In Box
  6 | `````````````
  7 | 
  8 | The Fetch and Freight Research Edition robots each ship in reusable ATA
  9 | cases. Inside each case you will find the robot, toolkit, and power
 10 | supply for charging the robot.
 11 | 
 12 | 
 13 | Fetch and Freight
 14 | ~~~~~~~~~~~~~~~~~
 15 | 
 16 | Please watch the video below for unpacking Fetch or Freight. The
 17 | video covers unpacking the robot, connecting the batteries, turning on
 18 | the robot, and driving the robot via the provided joystick.
 19 | 
 20 | .. raw:: html
 21 | 
 22 |    <iframe src="https://player.vimeo.com/video/131612734" width="700" height="393"  frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen>
 23 |    </iframe>
 24 | 
 25 | Toolkit
 26 | ~~~~~~~
 27 | 
 28 | The toolkit contains the tools, accessories, and fasteners needed to
 29 | use the Fetch and Freight. The picture below shows packaged toolkit.
 30 | 
 31 | .. figure:: _static/toolkit_in_box.png
 32 |    :width: 100%
 33 |    :align: center
 34 |    :figclass: align-centered
 35 | 
 36 | Inside the toolkit box you will find:
 37 | 
 38 | .. figure:: _static/toolkit_numbering.png
 39 |    :width: 100%
 40 |    :align: center
 41 |    :figclass: align-centered
 42 | 
 43 | ====== ========================= ======= ===============================================================
 44 | Item # Item Name                 QTY     Purpose
 45 | ====== ========================= ======= ===============================================================
 46 |  1     Metric Hex Key Set         1      For removing screws and attaching accessories
 47 |  2     Right Angle USB Connector  1      To prevent USB connector damage while driving
 48 |  3     Wireless Joystick	  1      For teleoperating the robot
 49 |  4     USB Cable		  1 	 For charging the wireless joystick
 50 |  5     Finger Tip Covers	  4	 To replace damaged finger tips
 51 |  6     M5x10mm SHCS		  4	 For attaching accessories to the base mount points
 52 |  7     M4x10mm SHCS		  4	 For attaching accessories to the head mount points
 53 |  8     M3x14mm Standoffs          4      For attaching accessories to the gripper
 54 |  9     3ft Ethernet Cable         1	 For connecting the robot to the network
 55 |  10    Fetch Robotics Stickers    5      For your laptop :)
 56 |  11    Mircofiber Lens Cloth      1      For cleaning optics of the robot
 57 | ====== ========================= ======= ===============================================================
 58 | 
 59 | 
 60 | Robot Power Supply
 61 | ~~~~~~~~~~~~~~~~~~
 62 | The robot power supply is shown below in the packaging:
 63 | 
 64 | .. figure:: _static/charger.JPG
 65 |    :width: 100%
 66 |    :align: center
 67 |    :figclass: align-centered
 68 | 
 69 | The robot plug end is shown below, when removing the charge plug from the
 70 | robot **always** grab the plug by the housing and not the cable.
 71 | 
 72 | .. figure:: _static/charge_plug.png
 73 |    :width: 100%
 74 |    :align: center
 75 |    :figclass: align-centered
 76 | 
 77 | .. warning::
 78 | 
 79 |     Pulling on the charge plug cable instead of the handle can cause
 80 |     damage to the cable assembly over time and could potentially cause
 81 |     injury to the robot or user.
 82 | 
 83 | 
 84 | Running Fetch and Freight
 85 | `````````````````````````
 86 | 
 87 | Turning on Fetch and Freight
 88 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 89 | 
 90 | To turn on the robot, set the :ref:`power_disconnect` (the red one
 91 | on the lower back of the robot) to the ON position and then press the
 92 | power switch on the access panel until it lights up.
 93 | 
 94 | Logging In
 95 | ~~~~~~~~~~
 96 | 
 97 | Once the robot is turned on and the robot is on the network, ssh
 98 | into the computer of the robot using the default ``fetch`` user
 99 | account:
100 | 
101 | ::
102 | 
103 | 	>$ ssh fetch@<robot_name_or_ip>
104 | 
105 | robot_name_or_ip will be either an IPv4 network address, or a network name, depending
106 | on the configuration of your local network. If your computer
107 | and network is setup for multicast DNS (mDNS) then you may be able to use
108 | ``fetchXYZ.local`` as the network name where XYZ will be the serial number
109 | of your robot (remove any leading zeros from the serial number).
110 | 
111 | Connecting a Monitor (Optional)
112 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
113 | If you are unable to access the robot through ssh due to your network settings
114 | you will need to connect an HDMI monitor, USB keyboard and USB mouse to the
115 | side panel ports. Then use them to select your network from the networking
116 | menu, it looks like an empty quarter circle pointed downward when disconnected,
117 | in the upper right hand corner of the screen. Once it is set it should remain
118 | connected through all reboots.
119 | 
120 | .. warning::
121 |     Monitor cables that conform to HDMI specifications will fit the robot's
122 |     monitor port. But some cheaper cables have overmolding that is too large
123 |     given the spec and may not seat properly. Please ensure the HDMI cable you
124 |     are using is the correct size.
125 | 
126 | .. note::
127 | 
128 |    If you are still having difficulty connecting to your robot you will need
129 |    to contact your network administrator for specific instructions on how
130 |    to connect the robot to your network.
131 | 
132 | 
133 | Once connected then create your user account as shown below.
134 | 
135 | .. include:: computer.rst
136 |    :start-after: embed-user-accounts-start
137 |    :end-before: embed-user-accounts-end
138 | 
139 | Tucking Fetch's Arm
140 | ~~~~~~~~~~~~~~~~~~~
141 | 
142 | .. note::
143 | 
144 |    The tuck arm server is a new feature released in
145 |    fetch_teleop and fetch_bringup 0.6.0. The deadman
146 |    became required in fetch_teleop 0.7.0.
147 | 
148 | To tuck the arm, press and hold button 6, as shown in the image of the
149 | controller below, for one second. This will trigger the tuck_arm server
150 | to tuck the arm. While tucking the arm, Fetch will avoid collisions with
151 | itself, however it will not be using any active perception, so be sure to
152 | keep the space in front of the robot clear when running the tuck arm.
153 | While the arm is tucking, you will have to hold the deadman. Releasing the
154 | deadman will stop the tucking action.
155 | 
156 | Driving Fetch and Freight with a Joystick
157 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
158 | .. include:: teleop.rst
159 |    :start-after: embed-teleop-start
160 |    :end-before: embed-teleop-end
161 | 
162 | Visualizing Data
163 | ~~~~~~~~~~~~~~~~
164 | .. include:: visualization.rst
165 |    :start-after: embed-rviz-start
166 | 
167 | 
168 | Putting Fetch and Freight Away
169 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
170 | 
171 | Before turning the robot off, it is recommended that you tuck the arm.
172 | When power is shut off, the arm will want to slowly fall and will be
173 | more difficult to backdrive when in the off configuration.
174 | 
175 | To turn the robot off, press and hold the illuminated power button on
176 | the access panel until it starts blinking. The power button will
177 | continue blinking until the computer has successfully shut down, and
178 | then power will be disconnected.
179 | 


--------------------------------------------------------------------------------
/source/index.rst:
--------------------------------------------------------------------------------
 1 | .. Fetch Robotics documentation master file, created by
 2 |    sphinx-quickstart on Sun Feb 15 02:38:06 2015.
 3 | 
 4 | Fetch & Freight Manual
 5 | ----------------------
 6 | 
 7 | This manual can also be downloaded as a `PDF <http://docs.fetchrobotics.com/FetchRobotics.pdf>`_.
 8 | 
 9 | .. toctree::
10 |    :maxdepth: 2
11 | 
12 |    introduction
13 |    safety
14 |    in_the_box
15 |    robot_hardware
16 |    computer
17 |    care_and_feeding
18 |    indigo_to_melodic
19 | 
20 | Tutorials
21 | ---------
22 | 
23 | .. toctree::
24 |    :maxdepth: 2
25 | 
26 |    visualization
27 |    gazebo
28 |    teleop
29 |    navigation
30 |    manipulation
31 |    perception
32 |    docking
33 |    calibration
34 |    fetch_pbd
35 |    
36 | Other
37 | -----
38 | 
39 | .. toctree::
40 |    :maxdepth: 2
41 |    
42 |    api_overview
43 |    release_notes
44 |    faq
45 |    support
46 | 
47 | Legal
48 | -------
49 | 
50 | .. toctree::
51 |    :maxdepth: 2
52 | 
53 |    notices
54 |    license
55 | 
56 | Indices and tables
57 | ==================
58 | 
59 | * :ref:`genindex`
60 | * :ref:`modindex`
61 | * :ref:`search`
62 | 
63 | 


--------------------------------------------------------------------------------
/source/introduction.rst:
--------------------------------------------------------------------------------
 1 | Introduction
 2 | ============
 3 | 
 4 | This manual is intended to help users successfully install, use, and develop
 5 | code on Fetch and Freight Research Edition robots. The software installed on
 6 | both robots is based on ROS. Please visit ros.org to learn more about ROS.
 7 | 
 8 | All users should read and become familiar with the safe operating procedures
 9 | set out in :doc:`Safety Section</safety>` before operating a robot.
10 | 
11 | If you are setting up Fetch or Freight for the first time please see the
12 | tutorial videos for unboxing Fetch and Freight to learn how to properly unpackage
13 | and setup the robots for the first time.
14 | 
15 | Before you Start
16 | ----------------
17 | 
18 | Before getting started, below is an overview of what you need to use and operate
19 | Fetch and Freight safely.
20 | 
21 | * **Fetch and Freight Safety** 
22 |  
23 |  - Read :doc:`Safety Section</safety>` in its entirety before using either robot.
24 | 
25 | * **Safe Environment** 
26 |  
27 |  - Only operate Fetch and Freight in an environment free of hazards. Specifically,
28 |    stairways and large drop offs can cause personal injury and extreme damage.
29 |    Avoid dangerous objects, sharp objects (such as knives), fire sources, or
30 |    hazardous chemicals. A robot with a knife or hot object is inherently
31 |    dangerous.
32 | 
33 | * **Space** 
34 | 
35 |  - Make sure that there is enough space for Fetch and Freight to drive around
36 |    and perform tasks. Both Fetch and Freight are designed to operate in ADA-compliant
37 |    environments (Americans with Disabilities Act).
38 | 
39 | * **Development Tools** 
40 |  
41 |  - To connect with Fetch and Freight, a laptop or desktop computer is needed.
42 |    Ideally Fetch and Freight can connect to a wireless network but users can
43 |    also directly to Fetch or Freight via the Ethernet port on each robot. 
44 | 
45 | * **Linux**
46 |  
47 |  - Familiarity with the Linux command-line is strongly recommended. The computers
48 |    in both Fetch and Freight have Ubuntu Linux installed. Tasks can be performed
49 |    by logging in remotely by using ssh or other similar tool. Users can also
50 |    directly plug in a display, mouse, and keyboard to the access panels on
51 |    Fetch and Freight.
52 | 
53 | * **Electrical** 
54 | 
55 |  - Fetch and Freight charge using a power brick that uses a standard 120VAC or
56 |    220VAC power outlet.
57 | 
58 | * **ROS and Fetch and Freight**
59 | 
60 |  - Fetch and Freight R&D software is based on ROS. Completing the
61 |    beginner tutorials will help users understand how to operate and
62 |    write applications for the Fetch and Freight.
63 | 
64 | * **Fetch and Freight Support**
65 | 
66 |  - Please visit the Fetch Robotics support portal at http://support.fetchrobotics.com
67 |    and login to review service information, modularity specifications, important
68 |    safety updates, and submit hardware or software support tickets for your robot.
69 | 


--------------------------------------------------------------------------------
/source/license.rst:
--------------------------------------------------------------------------------
1 | License
2 | =======
3 | 
4 | .. raw:: html
5 | 
6 |   <a rel="license" href="http://creativecommons.org/licenses/by-nc-nd/4.0/"><img alt="Creative Commons License" style="border-width:0" src="https://i.creativecommons.org/l/by-nc-nd/4.0/88x31.png" /></a><br />This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by-nc-nd/4.0/">Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License</a>.


--------------------------------------------------------------------------------
/source/manipulation.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Manipulation
  2 | ======================
  3 | 
  4 | Once you have Fetch running, you can start moving the arm with MoveIt!
  5 | 
  6 | Getting Started Demo
  7 | --------------------
  8 | 
  9 | The easiest way to run MoveIt! is to run the demo launch file,
 10 | which does not require any simulator or robot and brings up a
 11 | fully configured RVIZ instance:
 12 | 
 13 | ::
 14 | 
 15 |     >$ roslaunch fetch_moveit_config demo.launch
 16 | 
 17 | Within this demo you can use the sliders of the joint state
 18 | publisher window to move the joints to new starting positions
 19 | and use interactive markers to create new locations to plan
 20 | to and from.
 21 | 
 22 | Running the Pick and Place Demo
 23 | -------------------------------
 24 | 
 25 | See :ref:`mm_demo`.
 26 | 
 27 | Running MoveIt! on a Robot
 28 | -----------------------------
 29 | 
 30 | To run MoveIt! on a real or simulated robot, launch the
 31 | move_group.launch file from the ``fetch_moveit_config`` package:
 32 | 
 33 | ::
 34 | 
 35 |   >$ roslaunch fetch_moveit_config move_group.launch
 36 | 
 37 | Once launched you can send commands to move the arm using
 38 | the `MoveIt! Rviz Plugin <http://docs.ros.org/indigo/api/moveit_ros_visualization/html/doc/tutorial.html>`_ or use the programming interface, ``move_group_interface``, in either `C++ <http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html>`_ or `Python <http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/scripts/doc/move_group_python_interface_tutorial.html>`_.
 39 | 
 40 | Simple MoveIt! Disco Example
 41 | ----------------------------
 42 | 
 43 | This python script will run the robot through a simple disco dance motion.
 44 | 
 45 | ::
 46 | 
 47 |   #!/usr/bin/env python
 48 | 
 49 |   # simple_disco.py: Move the fetch arm through a simple disco motion
 50 |   import rospy
 51 |   from moveit_msgs.msg import MoveItErrorCodes
 52 |   from moveit_python import MoveGroupInterface, PlanningSceneInterface
 53 | 
 54 |   # Note: fetch_moveit_config move_group.launch must be running
 55 |   # Safety!: Do NOT run this script near people or objects.
 56 |   # Safety!: There is NO perception.
 57 |   #          The ONLY objects the collision detection software is aware
 58 |   #          of are itself & the floor.
 59 |   if __name__ == '__main__':
 60 |       rospy.init_node("simple_disco")
 61 | 
 62 |       # Create move group interface for a fetch robot
 63 |       move_group = MoveGroupInterface("arm_with_torso", "base_link")
 64 | 
 65 |       # Define ground plane
 66 |       # This creates objects in the planning scene that mimic the ground
 67 |       # If these were not in place gripper could hit the ground
 68 |       planning_scene = PlanningSceneInterface("base_link")
 69 |       planning_scene.removeCollisionObject("my_front_ground")
 70 |       planning_scene.removeCollisionObject("my_back_ground")
 71 |       planning_scene.removeCollisionObject("my_right_ground")
 72 |       planning_scene.removeCollisionObject("my_left_ground")
 73 |       planning_scene.addCube("my_front_ground", 2, 1.1, 0.0, -1.0)
 74 |       planning_scene.addCube("my_back_ground", 2, -1.2, 0.0, -1.0)
 75 |       planning_scene.addCube("my_left_ground", 2, 0.0, 1.2, -1.0)
 76 |       planning_scene.addCube("my_right_ground", 2, 0.0, -1.2, -1.0)
 77 | 
 78 |       # TF joint names
 79 |       joint_names = ["torso_lift_joint", "shoulder_pan_joint",
 80 |                      "shoulder_lift_joint", "upperarm_roll_joint",
 81 |                      "elbow_flex_joint", "forearm_roll_joint",
 82 |                      "wrist_flex_joint", "wrist_roll_joint"]
 83 |       # Lists of joint angles in the same order as in joint_names
 84 |       disco_poses = [[0.0, 1.5, -0.6, 3.0, 1.0, 3.0, 1.0, 3.0],
 85 |                      [0.133, 0.8, 0.75, 0.0, -2.0, 0.0, 2.0, 0.0],
 86 |                      [0.266, -0.8, 0.0, 0.0, 2.0, 0.0, -2.0, 0.0],
 87 |                      [0.385, -1.5, 1.1, -3.0, -0.5, -3.0, -1.0, -3.0],
 88 |                      [0.266, -0.8, 0.0, 0.0, 2.0, 0.0, -2.0, 0.0],
 89 |                      [0.133, 0.8, 0.75, 0.0, -2.0, 0.0, 2.0, 0.0],
 90 |                      [0.0, 1.5, -0.6, 3.0, 1.0, 3.0, 1.0, 3.0]]
 91 | 
 92 |       for pose in disco_poses:
 93 |           if rospy.is_shutdown():
 94 |               break
 95 | 
 96 |           # Plans the joints in joint_names to angles in pose
 97 |           move_group.moveToJointPosition(joint_names, pose, wait=False)
 98 | 
 99 |           # Since we passed in wait=False above we need to wait here
100 |           move_group.get_move_action().wait_for_result()
101 |           result = move_group.get_move_action().get_result()
102 | 
103 |           if result:
104 |               # Checking the MoveItErrorCode
105 |               if result.error_code.val == MoveItErrorCodes.SUCCESS:
106 |                   rospy.loginfo("Disco!")
107 |               else:
108 |                   # If you get to this point please search for:
109 |                   # moveit_msgs/MoveItErrorCodes.msg
110 |                   rospy.logerr("Arm goal in state: %s",
111 |                                move_group.get_move_action().get_state())
112 |           else:
113 |               rospy.logerr("MoveIt! failure no result returned.")
114 | 
115 |       # This stops all arm movement goals
116 |       # It should be called when a program is exiting so movement stops
117 |       move_group.get_move_action().cancel_all_goals()
118 | 
119 | 
120 | Simple MoveIt! Wave Example
121 | ---------------------------
122 | 
123 | This python script will cause the robot to do a simple "wave-like" motion
124 | until the script is stopped with ctrl-c
125 | 
126 | ::
127 | 
128 |   #!/usr/bin/env python
129 | 
130 |   # wave.py: "Wave" the fetch gripper
131 |   import rospy
132 |   from moveit_msgs.msg import MoveItErrorCodes
133 |   from moveit_python import MoveGroupInterface, PlanningSceneInterface
134 |   from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion
135 | 
136 |   # Note: fetch_moveit_config move_group.launch must be running
137 |   # Safety!: Do NOT run this script near people or objects.
138 |   # Safety!: There is NO perception.
139 |   #          The ONLY objects the collision detection software is aware
140 |   #          of are itself & the floor.
141 |   if __name__ == '__main__':
142 |       rospy.init_node("hi")
143 | 
144 |       # Create move group interface for a fetch robot
145 |       move_group = MoveGroupInterface("arm_with_torso", "base_link")
146 | 
147 |       # Define ground plane
148 |       # This creates objects in the planning scene that mimic the ground
149 |       # If these were not in place gripper could hit the ground
150 |       planning_scene = PlanningSceneInterface("base_link")
151 |       planning_scene.removeCollisionObject("my_front_ground")
152 |       planning_scene.removeCollisionObject("my_back_ground")
153 |       planning_scene.removeCollisionObject("my_right_ground")
154 |       planning_scene.removeCollisionObject("my_left_ground")
155 |       planning_scene.addCube("my_front_ground", 2, 1.1, 0.0, -1.0)
156 |       planning_scene.addCube("my_back_ground", 2, -1.2, 0.0, -1.0)
157 |       planning_scene.addCube("my_left_ground", 2, 0.0, 1.2, -1.0)
158 |       planning_scene.addCube("my_right_ground", 2, 0.0, -1.2, -1.0)
159 | 
160 |       # This is the wrist link not the gripper itself
161 |       gripper_frame = 'wrist_roll_link'
162 |       # Position and rotation of two "wave end poses"
163 |       gripper_poses = [Pose(Point(0.042, 0.384, 1.826),
164 |                             Quaternion(0.173, -0.693, -0.242, 0.657)),
165 |                        Pose(Point(0.047, 0.545, 1.822),
166 |                             Quaternion(-0.274, -0.701, 0.173, 0.635))]
167 | 
168 |       # Construct a "pose_stamped" message as required by moveToPose
169 |       gripper_pose_stamped = PoseStamped()
170 |       gripper_pose_stamped.header.frame_id = 'base_link'
171 | 
172 |       while not rospy.is_shutdown():
173 |           for pose in gripper_poses:
174 |               # Finish building the Pose_stamped message
175 |               # If the message stamp is not current it could be ignored
176 |               gripper_pose_stamped.header.stamp = rospy.Time.now()
177 |               # Set the message pose
178 |               gripper_pose_stamped.pose = pose
179 | 
180 |               # Move gripper frame to the pose specified
181 |               move_group.moveToPose(gripper_pose_stamped, gripper_frame)
182 |               result = move_group.get_move_action().get_result()
183 | 
184 |               if result:
185 |                   # Checking the MoveItErrorCode
186 |                   if result.error_code.val == MoveItErrorCodes.SUCCESS:
187 |                       rospy.loginfo("Hello there!")
188 |                   else:
189 |                       # If you get to this point please search for:
190 |                       # moveit_msgs/MoveItErrorCodes.msg
191 |                       rospy.logerr("Arm goal in state: %s",
192 |                                    move_group.get_move_action().get_state())
193 |               else:
194 |                   rospy.logerr("MoveIt! failure no result returned.")
195 | 
196 |       # This stops all arm movement goals
197 |       # It should be called when a program is exiting so movement stops
198 |       move_group.get_move_action().cancel_all_goals()
199 | 
200 | 
201 | 
202 | More information and Tutorials on MoveIt!
203 | -----------------------------------------
204 | 
205 | `General information <http://moveit.ros.org/>`_, `Documentation <http://moveit.ros.org/documentation/>`_ and `Tutorials <http://moveit.ros.org/documentation/tutorials/>`_ available at moveit.ros.org
206 | 
207 | 


--------------------------------------------------------------------------------
/source/mechanical_spec.rst:
--------------------------------------------------------------------------------
  1 | Mechanical Overview
  2 | -------------------
  3 | 
  4 | Do not operate Fetch or Freight before reviewing the mechanical
  5 | information listed below.
  6 | 
  7 | Environmental
  8 | +++++++++++++
  9 | 
 10 | The Fetch and Freight Research Edition Robots are indoor laboratory
 11 | robots. Operating outside this type of environment could cause
 12 | damage to the Fetch and Freight robots, and injury or death to
 13 | operators.
 14 | 
 15 | Drive Surface
 16 | '''''''''''''
 17 |  - The drive surface of the Fetch must be capable of supporting the
 18 |    entire weight of Fetch, about 250 lbs (113.3 kgs). If the surface is too
 19 |    soft, Fetch can get stuck and fail to drive. A commercial carpet or
 20 |    tile is recommended.
 21 |  - The drive surface of the Freight must be capable of supporting the
 22 |    entire weight of the Freight about 150 lbs (68 kgs) plus the weight
 23 |    of the payload. If the surface is too soft, Freight can get stuck
 24 |    and fail to drive. A commercial carpet or tile is recommended.
 25 | 
 26 | Incline Surface
 27 | '''''''''''''''
 28 |  - Fetch and Freight are ready for ADA-compliant ramps, which are at no
 29 |    more than a 1/12 slope. Ramps that are steeper than a 1/12 slope
 30 |    are unsafe and may be a tipping hazard.
 31 | 
 32 | Water
 33 | '''''
 34 |  - Fetch and Freight have not been tested for any type of contact with water
 35 |    or any other liquid. Under no circumstances should Fetch nor Freight
 36 |    come in contact with water from rain, mist, ground water (puddles)
 37 |    and any other liquid. Water contact can cause damage to the electrical
 38 |    circuitry and the mechanism.
 39 | 
 40 | Temperature and Humidity 
 41 | ''''''''''''''''''''''''
 42 |  - Fetch and Freight are designed to run in environments between 15C and 35C.
 43 |  - Keep Fetch and Freight away from open flames and other heat sources.
 44 |    Never use Fetch or Freight around stoves or ovens.
 45 | 
 46 | Forces and Torques 
 47 | ++++++++++++++++++ 
 48 | 
 49 | Joint position, velocity, and force limits are implemented in the
 50 | Fetch and Freight URDF file as well as in firmware. Firmware implements
 51 | additional power limits. These joint limits control the range of
 52 | travel of the mechanism and the allowable velocity to prevent
 53 | over-travel. These limits are enforced by the controller, and are
 54 | designed to prevent poorly commanded control efforts from damaging the
 55 | robot or harming operators.
 56 | 
 57 | The limits below are from the Fetch and Freight URDF files. If a
 58 | velocity or torque limit is not specified, no value is enforced.
 59 | 
 60 | ======================== ========== ============ =====
 61 | Joint                    Velocity   Torque/Force Power
 62 | ======================== ========== ============ =====
 63 | "*"_wheel_joint          17.4rad/s  8.85Nm       120W
 64 | torso_lift_joint         0.1m/s     450N         TBD
 65 | head_pan_joint           1.57rad/s  0.32Nm       TBD
 66 | head_tilt_joint          1.57rad/s  0.68Nm       TBD
 67 | shoulder_pan_joint       1.25rad/s  33.82Nm      TBD
 68 | shoulder_lift_joint      1.45rad/s  131.76Nm     TBD
 69 | upperarm_roll_joint      1.57rad/s  76.94Nm      TBD
 70 | elbow_flex_joint         1.52rad/s  66.18Nm      TBD
 71 | forearm_roll_joint       1.57rad/s  29.35Nm      TBD
 72 | wrist_flex_joint         2.26rad/s  25.70Nm      TBD
 73 | wrist_roll_joint         2.26rad/s  7.36Nm       TBD
 74 | "*"_gripper_finger_joint 0.05m/s    60N            --
 75 | ======================== ========== ============ =====
 76 | 
 77 | Joint Limits and Types
 78 | ++++++++++++++++++++++
 79 | 
 80 | The position limits for Fetch and Freight are specified below. These
 81 | "hard limits" are the maximum travel for the mechanism.
 82 | 
 83 | ======================== ========== =========== ==========
 84 | Joint                    Type       Limit (+)   Limit (-)
 85 | ======================== ========== =========== ==========
 86 | "*"_wheel_joint          continuous    --          --
 87 | torso_lift_joint         prismatic   400mm       0mm
 88 | head_pan_joint           revolute    90°         90°
 89 | head_tilt_joint          revolute    90° (down)  45° (up)
 90 | shoulder_pan_joint       revolute    92°         92°
 91 | shoulder_lift_joint      revolute    87°         70°
 92 | upperarm_roll_joint      continuous    --           --
 93 | elbow_flex_joint         revolute    129°        129°
 94 | forearm_roll_joint       continuous    --           --
 95 | wrist_flex_joint         revolute    125°        125°
 96 | wrist_roll_joint         continuous    --           --
 97 | "*"_gripper_finger_joint prismatic   50mm       0mm
 98 | ======================== ========== =========== ==========
 99 | 
100 | Mount Points
101 | ++++++++++++
102 | 
103 | Fetch and Freight both have mount points on top of the robot
104 | base. Fetch also has mount points on the head and gripper. The table
105 | below lists the fasteners that should be used and the max torques to
106 | use when installing fasteners. The spacing of the square grid of mount
107 | points is also included.
108 | 
109 | =========== ============ ========================== =============
110 | Location    Fastener     Max Torque                 Grid Spacing
111 | =========== ============ ========================== =============
112 | Base        M5*          3.6Nm                      50mm
113 | Head        M4           3.0Nm                      25mm
114 | Gripper     M3           0.50Nm (into the standoff) 50mm
115 | =========== ============ ========================== =============
116 | 
117 | .. note::
118 |    When mounting additional items on top of the base, a 6mm maximum
119 |    thread engagement into the mounting holes must be maintained.
120 |    Exceeding this maximum may cause the top plate of the base to deflect.
121 |    On older robots, this depth may be limited to 4mm.
122 | 
123 | Gripper Modularity Interface
124 | ++++++++++++++++++++++++++++
125 | 
126 | The gripper interface is modular, allowing the gripper to be replaced with alternate
127 | configurations. The gripper interface is based on an ISO mechanical standard,
128 | Ethernet communications and 24V power. For further details, contact Fetch Robotics
129 | for the `Gripper Interface Specification` document.
130 | 


--------------------------------------------------------------------------------
/source/mechanism_terminology.rst:
--------------------------------------------------------------------------------
 1 | Mechanism Terminology
 2 | ---------------------
 3 | 
 4 | The Fetch and Freight kinematics are defined by using the concepts of
 5 | joints, links, and coordinate frames. The robot URDF (unified robot
 6 | description format) model specifies the attributes (kinematic tree,
 7 | names, ranges, etc.) of the joints, links, and frames of the robot. A
 8 | link element in the URDF describes a rigid body with inertia, visual
 9 | features, and coordinate frames. A joint element in the URDF defines
10 | the kinematics, dynamics, safety limits, and type (revolute,
11 | continuous fixed, prismatic, floating, or planar). Fixed joints are
12 | typically used to describe the relationship between two rigidly joined
13 | components in the robot.
14 | 
15 | Link 
16 | ++++ 
17 | 
18 | The links for the Fetch and Freight are defined in the URDF description
19 | that are located in the fetch_description or freight_description
20 | package respectively. 
21 | 
22 | Frame
23 | +++++
24 | 
25 | Frames represent the coordinate frames of links, detected objects,
26 | sensors, or the location of another robot in the world. Frames are
27 | define relative to other frames and the transformations between each
28 | frame is tracked using TF. 
29 | 
30 | Joint
31 | +++++
32 | 
33 | A joints define the relationship between links and are defined in the
34 | URDF description that can be found in the fetch_description or
35 | freight_description package respectively. In the Fetch and Freight the
36 | majority of the joints are rotational, the torso is prismatic, and
37 | there are several fixed joints describing the location of sensors
38 | within the robot. Rotational and translational joints are represented
39 | similarly in the URDF, and joint forces are described as *effort*
40 | instead of force or torque. Position, and velocity are both used to
41 | describe linear and angular motion of a joint.
42 | 
43 | Fetch Home Pose
44 | +++++++++++++++
45 | 
46 | The home pose of the Fetch robot is used to describe the joint
47 | positions in a consistent manner. The home pose is defined as the
48 | robot arm straight out in front of the robot with all x-axes aligned,
49 | the gripper in the closed position, and the x-axes of the head
50 | parallel and aligned with the arm, in this position all of the joints
51 | are considered to be zeroed. The calibration reference for most joints
52 | are not at the joint zero and the URDF of the Fetch contains the
53 | offsets for each joint.
54 | 
55 | Coordinate System
56 | +++++++++++++++++
57 | 
58 | The coordinate frames for all links in the Fetch and Freight are defined
59 | with positive z-axis up, positive x-axis forward, and positive y-axis
60 | to the robot-left when Fetch is in the home pose. All joint angle
61 | conventions are chosen such that from the home pose, positive motion
62 | of the joint results in positive motion around a positive axis of a
63 | joint coordinate frame (i.e. right handed).
64 | 
65 | 
66 | Naming Conventions
67 | ++++++++++++++++++
68 | 
69 | In general, the names for a link, a joint, and frame will be similar
70 | (e.g. shoulder_pan_link, shoulder_pan_joint, and
71 | shoulder_pan_frame). Short prefixes are used to describe the location
72 | of repeated components (i.e. drive wheels). The diagrams below show
73 | the link and joint naming conventions as well as the positive
74 | direction of joint motion.
75 | 
76 | .. figure:: _static/fetch_link_names.png
77 |    :width: 100%
78 |    :align: center
79 |    :figclass: align-centered
80 | 
81 | .. figure:: _static/fetch_joint_names.png
82 |    :width: 100%
83 |    :align: center
84 |    :figclass: align-centered
85 | 


--------------------------------------------------------------------------------
/source/motion_control.rst:
--------------------------------------------------------------------------------
 1 | Motion Control
 2 | --------------
 3 | 
 4 | Each joint has a dedicated motor controller board (MCB) with a dedicated
 5 | microcontroller. The real-time components of the controls run on the
 6 | MCBs, while the robot computer streams commands to the MCBs.
 7 | 
 8 | .. figure:: _static/motion_control_overview.png
 9 |    :width: 80%
10 |    :align: center
11 |    :figclass: align-centered
12 | 
13 | All motors are brushless and each MCB runs an effort controller at 17.5kHz.
14 | Each MCB can also run an optional velocity controller which takes a desired
15 | velocity and outputs a control into the effort controller. Further, each
16 | MCB can run a position controller which can feed into the velocity controller.
17 | The position and velocity controllers each run at 1kHz, and the default
18 | rate for the commands streaming from the robot computer is 200Hz.
19 | Each MCB can then receive any of the following types of commands:
20 | 
21 |  * Desired position, desired velocity, and desired effort
22 |  * Desired velocity and desired effort
23 |  * Desired effort
24 | 
25 | Each MCB returns the measured effort, velocity and position of the joint it
26 | is controlling.
27 | 
28 | Most users will want to use the high-level :ref:`arm_api` ROS API, however,
29 | users can also create their own controllers as ROS plugins that run on the
30 | robot computer and send commands to the MCBs using the
31 | robot_controllers_interface package.
32 | 


--------------------------------------------------------------------------------
/source/navigation.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Navigation
  2 | ====================
  3 | 
  4 | Once you have Fetch or Freight running, you can start navigating.
  5 | Fetch and Freight ship with configurations for using the
  6 | ROS Navigation Stack. A number of tutorials related to navigation
  7 | can be found in the documentation on the
  8 | `ROS Wiki <http://wiki.ros.org/navigation>`_.
  9 | 
 10 | Running Navigation in Gazebo Simulation
 11 | ---------------------------------------
 12 | 
 13 | To run navigation in simulation, launch the navigation launch file
 14 | from the ``fetch_gazebo_demo`` package:
 15 | 
 16 | ::
 17 | 
 18 | 	>$ roslaunch fetch_gazebo_demo fetch_nav.launch
 19 | 
 20 | Running Navigation on a Real Robot
 21 | ----------------------------------
 22 | 
 23 | When running navigation on a robot, first you will need to build a map,
 24 | See the next section for a how-to. Then you will need to supply the map
 25 | to the navigation launch file from the ``fetch_navigation`` package:
 26 | 
 27 | ::
 28 | 
 29 |     >$ roslaunch fetch_navigation fetch_nav.launch map_file:=/path/to/map.yaml
 30 | 
 31 | 
 32 | Building A Map
 33 | --------------
 34 | 
 35 | The launch file for navigation in Gazebo depends on a pre-built
 36 | map of the environment. In order to use navigation in the real world,
 37 | you will need to first build a map of your environment:
 38 | 
 39 | ::
 40 | 
 41 |     >$ roslaunch fetch_navigation build_map.launch
 42 | 
 43 | Once you launch build_map, you will want to
 44 | :doc:`tele-operate the robot </teleop>` the robot around and build
 45 | the map, which can be visualized in RVIZ.
 46 | 
 47 | .. note:: The build_map.launch file is not intended to be run at the same time
 48 |     as fetch_nav.launch
 49 | 
 50 | While driving the robot around, you can view the map in RVIZ.
 51 | Once you are happy with the map, you can save the map:
 52 | 
 53 | ::
 54 | 
 55 |     >$ rosrun map_server map_saver -f <map_directory/map_name>
 56 | 
 57 | The map saver will create two files in the specified
 58 | ``map_directory``. The directory must already exist.
 59 | The two files are map_name.pgm and map_name.yaml.
 60 | The first is the map in a ``.pgm`` image format, and
 61 | the second is a YAML file that specifies metadata for the image.
 62 | These files can then be served by the map_server:
 63 | 
 64 | ::
 65 | 
 66 |     >$ rosrun map_server map_server <map.yaml>
 67 | 
 68 | The fetch_nav.launch file used above launches an instance of map_server. It
 69 | has three arguments which control the behavior:
 70 | 
 71 | ================= ================================
 72 | Argument          Meaning
 73 | ================= ================================
 74 | map_file          YAML file containing map metadata
 75 | map_keepout_file  Additional YAML file containing metadata for a keepout map
 76 | use_keepout       Whether to load and use a keepout map (default: False)
 77 | ================= ================================
 78 | 
 79 | You can either pass the arguments from the command line, like:
 80 | 
 81 | ::
 82 | 
 83 |     >$ roslaunch fetch_navigation fetch_nav.launch map_file:=/path/to/map.yaml
 84 | 
 85 | Or create a new launch file in your own package which includes launch
 86 | file and passes in arguments:
 87 | 
 88 | ::
 89 | 
 90 |     <launch>
 91 |       <include file="$(find fetch_navigation)/launch/fetch_nav.launch" >
 92 |         <arg name="map_file" value="$(find my_package)/maps/my_map.yaml" />
 93 |         <arg name="map_keepout_file" value="$(find my_package)/maps/my_keepout_map.yaml" />
 94 |         <arg name="use_keepout" value="true" />
 95 |       </include>
 96 |     </launch>
 97 | 
 98 | The "keepout" map can be created by copying the YAML file of your saved map,
 99 | editing the name of the ``.pgm`` file and then copying the ``.pgm`` file.
100 | You can then open the ``.pgm`` file in an image editor, such as GIMP, and
101 | black out areas that you do not want the robot to drive through. This must be
102 | done in a separate map that is only used for planning so that the edits do
103 | not disturb the functionality of localization (AMCL).
104 | 
105 | Sending Waypoints
106 | -----------------
107 | 
108 | The easiest way to send a goal to the navigation stack is using RVIZ and the
109 | ``2D Nav Goal`` button. See the tutorial on using RVIZ with navigation in the RVIZ
110 | `documentation <http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack>`_
111 | 
112 | However, you probably want to program your robot. There is a
113 | `tutorial <http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals>`_
114 | on commanding the robot with C++. For examples in Python, look at the demo.py
115 | code in the ``fetch_gazebo_demo`` package.
116 | 


--------------------------------------------------------------------------------
/source/notices.rst:
--------------------------------------------------------------------------------
 1 | Notices
 2 | =======
 3 | 
 4 | FCC Notice
 5 | ----------
 6 | 
 7 | This device complies with part 15 of the FCC Rules. Operation is subject to the
 8 | following two conditions: (1) This device may not cause harmful interference,
 9 | and (2) this device must accept any interference received, including interference
10 | that may cause undesired operation.
11 | 
12 | This equipment has been tested and found to comply with the limits for a Class A 
13 | digital device, pursuant to part 15 of the FCC Rules. These limits are designed 
14 | to provide reasonable protection against harmful interference when the equipment is 
15 | operated in a commercial environment. This equipment generates, uses, and can
16 | radiate radio frequency energy and, if not installed and used in accordance with 
17 | the instruction manual, may cause harmful interference to radio communications. 
18 | Operation of this equipment in a residential area is likely to cause harmful
19 | interference in which case the user will be required to correct the interference 
20 | at their own expense.
21 | 
22 | Contains Transmitter Module FCC ID: PD97260H
23 | 
24 | Copyright Notices for Open Source Software
25 | ------------------------------------------
26 | 
27 | Fetch Robotics uses open-source software in Fetch and Freight. This
28 | software is licensed by the rights holders under the following licenses,
29 | among others: GNU General Public License (GPL2, GPL3), GNU Lesser
30 | Public License (LGPL), MIT License, zlib License, Apache2 license,
31 | and various forms and derivatives of the BSD license.
32 | 
33 | There are thousands of files installed by the Ubuntu installer, see
34 | http://www.ubuntu.com/about/about-ubuntu/licensing for details about
35 | licensing.
36 | 
37 | See the SICK TIM55x/56x/57x operating instructions for details of open
38 | source software usage in the SICK TIM571 scanning laser range finder.
39 | 
40 | Trademarks
41 | ----------
42 | 
43 | Fetch, Freight, and Fetch Robotics are trademarks of Fetch Robotics Inc.
44 | Ubuntu is a trademark of Canonical Limited.
45 | All other trademarks and trade names are the property of their respective
46 | holders
47 | 


--------------------------------------------------------------------------------
/source/perception.rst:
--------------------------------------------------------------------------------
 1 | Tutorial: Perception
 2 | ====================
 3 | 
 4 | Head Camera Topics
 5 | ------------------
 6 | 
 7 | The API for the head camera is documented under :ref:`camera_api`.
 8 | 
 9 | Some resources for accessing and processing camera data are:
10 | 
11 |  * `OpenCV <http://opencv.org/>`_ is a generic computer vision library
12 |    which has good support within ROS.
13 |  * `Point Cloud Library <http://pointclouds.org/>`_ allows manipulation
14 |    of 3-dimensional images, or point clouds.
15 |  * `cv_bridge <http://wiki.ros.org/cv_bridge>`_ is a ROS package that allows
16 |    converting ROS image messages into OpenCV data structures in C++ or Python.
17 |  * `pcl_conversions <http://wiki.ros.org/pcl_conversions>`_ is a ROS
18 |    package for converting between ROS PointCloud2 messages and PCL data
19 |    types in C++.
20 |  * `pcl_ros <http://wiki.ros.org/pcl_ros>`_ is a ROS package that contains
21 |    several nodelets for commonly used PCL components such as voxel grid
22 |    filters for downsampling a point cloud or pass through filters for
23 |    filtering out data beyond a certain distance.
24 | 
25 | Running the Pick and Place Demo
26 | -------------------------------
27 | 
28 | See :ref:`mm_demo`.
29 | 


--------------------------------------------------------------------------------
/source/ps4.rst:
--------------------------------------------------------------------------------
  1 | Switching your robot to using a PS4 controller
  2 | ==============================================
  3 | 
  4 | This procedure guides you in updating your robot to be controlled
  5 | with a PS4 controller.
  6 | 
  7 | If you are just trying to re-pair you PS4 controller, you can skip to the
  8 | `Restart Bluetooth and Pair PS4 Controller`_ section, and also skip the
  9 | sections that follow it.
 10 | 
 11 | *Who is this guide intended for?:*
 12 | 
 13 | - Customers who received a PS3 controller with their robot, and would like to instead use
 14 |   a PS4 controller with their robot.
 15 | 
 16 | *What requirements are there for using a PS4 controller?:*
 17 | 
 18 | - Your robot needs to be running Ubuntu 18.04 + ROS Melodic
 19 | - You will need a PS4 controller (also called *DualShock 4 Wireless Controller
 20 |   for PlayStation 4*).
 21 | 
 22 | .. warning:: Third party controllers may not work. Only Sony PS4 controllers have been tested.
 23 | 
 24 | Upgrade your Fetch robot's packages
 25 | -----------------------------------
 26 | Run the following to upgrade packages that are relevant::
 27 | 
 28 |   sudo apt update
 29 |   sudo apt install --only-upgrade ros-melodic-*
 30 | 
 31 |   export ROBOTTYPE=$(hostname | awk -F'[0-9]' '{print $1}')
 32 |   wget http://packages.fetchrobotics.com/binaries/$ROBOTTYPE-melodic-config.deb
 33 |   sudo apt install ./$ROBOTTYPE-melodic-config.deb -y
 34 | 
 35 | 
 36 | Disable the PS3's ps3joy driver/service
 37 | ---------------------------------------
 38 | 
 39 | The following commands will disable the ps3joy systemd service::
 40 | 
 41 |   sudo service ps3joy stop
 42 |   sudo systemctl disable ps3joy
 43 | 
 44 | Restart Bluetooth and Pair PS4 Controller
 45 | -----------------------------------------
 46 | 
 47 | Since ps3joy disables the default Bluetooth service, the following is needed to start
 48 | it again::
 49 | 
 50 |   sudo service bluetooth restart
 51 | 
 52 | Next, a monitor needs to be hooked up to the robot, in order to go through the Bluetooth
 53 | pairing process.
 54 | 
 55 | To pair with the controller, open the wifi menu in the top right, expand the Bluetooth
 56 | section, and click the Bluetooth settings, indicated below:
 57 | 
 58 | .. figure:: _static/ps4_bluetooth_menu.png
 59 |    :align: center
 60 |    :figclass: align-centered
 61 | 
 62 | To put the controller in pairing mode, press and hold the Share button, and then press
 63 | and hold the center PS4 button for a second and then release it, and then release the
 64 | share button.  The LED on the controller should start flashing twice, once per second.
 65 | 
 66 | If the LED is flashing once per second, you may need to retry the above after turning off the
 67 | controller.  You can turn off the controller by holding the center button for 10s.
 68 | 
 69 | Once the controller is in pairing mode, it should show up in the list of devices, like
 70 | below.  You may have to scroll to the bottom of the list.
 71 | 
 72 | .. figure:: _static/ps4_pairing_before.png
 73 |    :width: 100%
 74 |    :align: center
 75 |    :figclass: align-centered
 76 | 
 77 | Once you click the Wireless Controller entry, it should show up as connected at the top
 78 | of the list.
 79 | 
 80 | .. figure:: _static/ps4_pairing_after.png
 81 |    :width: 100%
 82 |    :align: center
 83 |    :figclass: align-centered
 84 | 
 85 | When the controller is connected, its LED will be solid blue.
 86 | 
 87 | Next, disconnect the controller.
 88 | To disconnect the controller, you can hold the central button for 10 seconds.
 89 | To re-connect the controller, just pressing the center button is required.  Sometimes
 90 | it may take a couple tries.
 91 | 
 92 | Enable the ds4drv driver/service for the PS4 controller
 93 | -------------------------------------------------------
 94 | 
 95 | Next we enable the new service (created by the updated install of fetch-melodic-config)::
 96 | 
 97 |   sudo systemctl daemon-reload && sudo systemctl enable ps4joy && sudo service ps4joy start
 98 | 
 99 | This is a custom service that launches `ds4drv <https://github.com/chrippa/ds4drv>`__.
100 | 
101 | Set the robot to use the PS4 controller
102 | ---------------------------------------
103 | 
104 | To enable the PS4 controller inputs to move the robot, a param needs to be set in
105 | /etc/ros/melodic/robot.launch.
106 | 
107 | If your robot is using a robot.launch file that you restored after installing ROS Melodic, you
108 | may need to make the following modification to your robot.launch file to add the ps4 param::
109 | 
110 |   - <include file="$(find freight_bringup)/launch/include/teleop.launch.xml" />
111 |   + <include file="$(find freight_bringup)/launch/include/teleop.launch.xml">
112 |   +   <arg name="ps4" value="true" />
113 |   + </include>
114 | 
115 | Additionally, if you previously modified robot.launch to add the following arg, **you should remove this arg**::
116 | 
117 |   <arg name="joy_device" value="/dev/input/js0" />  # Remove this line if it exists!
118 | 
119 | By default, with the latest update, the above parameter is not needed. It now defaults to
120 | /dev/fetch_joy, which will get created by UDEV rules for both PS3 and PS4 controllers.
121 | 
122 | Finally, with the arm safely resting so that it won't fall, restart roscore.::
123 | 
124 |     sudo service roscore restart
125 | 
126 | The controller should now move the robot.
127 | 
128 | Troubleshooting
129 | ===============
130 | 
131 | If you run into issues, check the following when the controller is connected:
132 | 
133 | - Does ``jstest /dev/ps4joy`` reflect movement of the PS4 controller when it is connected?
134 | - What nodes are listed when you do ``rosnode list | grep joy``? We expect, joy_node and joy_remap.
135 | - Is the topic ``/joy`` publishing? (``rostopic hz /joy``)
136 | 
137 | Reverting back to using PS3 controller
138 | ======================================
139 | 
140 | While not recommended, in case you encounter issues and need to switch back, the below
141 | outlines the steps to revert the procedures above:
142 | 
143 | 1. Change the ps4 arg value to false in /etc/ros/melodic/robot.launch
144 | 2. ``sudo service ps4joy stop && sudo systemctl disable ps4joy``
145 | 3. ``sudo systemctl enable ps3joy && sudo service ps3joy start``
146 | 4. With the arm safely resting so that it does not fall, ``sudo service roscore restart``
147 | 5. Connect your PS3 controller.
148 | 


--------------------------------------------------------------------------------
/source/release_notes.rst:
--------------------------------------------------------------------------------
  1 | Release Notes
  2 | =============
  3 | 
  4 | The following release notes detail the updates to ROS Melodic packages
  5 | maintained by Fetch Robotics and available at http://packages.ros.org.
  6 | For more details on the changes that
  7 | have occured in an individual package, please see the CHANGELOG within
  8 | the installed package.
  9 | 
 10 | For information on updating your robot to the latest packages, see
 11 | :ref:`updating`.
 12 | 
 13 | Note: For ROS Indigo, packages are hosted at http://packages.fetchrobotics.com.
 14 | 
 15 | September 10, 2019
 16 | --------------
 17 | This release adds a few fixes for Fetch and Freight with ROS Melodic.
 18 | 
 19 | * ROS Melodic robots now start a `soundplay <http://wiki.ros.org/sound_play>`__
 20 |   node on startup. This feature was initially omitted from Melodic/18.04 support.
 21 | * The frame_id field in the /imu topic now publishes correctly.
 22 | * The robot drivers were updated to align with the power_msgs packages. The
 23 |   /battery_state topic now works correctly.
 24 | 
 25 | Key Updated Fetch Packages:
 26 |  * fetch-melodic-config: 0.2-0ubuntu1 -> 0.2-0ubuntu2
 27 |  * freight-melodic-config: 0.2-0ubuntu1 -> 0.2-0ubuntu2
 28 |  * ros-melodic-power-msgs: 0.3.0-0 -> 0.4.0-1
 29 |  * ros-melodic-fetch-bringup: 0.8.7-1 -> 0.8.8-1
 30 |  * ros-melodic-fetch-drivers: 0.8.7-1 -> 0.8.8-1
 31 |  * ros-melodic-freight-bringup: 0.8.7-1 -> 0.8.8-1
 32 | 
 33 | A full list of updated/new Fetch packages can be found at
 34 | `discourse.ros.org <https://discourse.ros.org/t/new-packagesg-for-melodic-2019-09-10/10615>`__.
 35 | 
 36 | 
 37 | August 9, 2019
 38 | --------------
 39 | This release adds support for Fetch and Freight using ROS Melodic on Ubuntu 18.04.
 40 | ROS Indigo and Ubuntu 14.04 are EOL. Robots using Indigo should continue to work,
 41 | but will not receive further updates. To upgrade your robot, see
 42 | :doc:`these instructions <indigo_to_melodic>`.
 43 | 
 44 | * The default ROS Melodic Fetch and Freight configurations can be easily set up
 45 |   using the new automated installer (this is a clean install, not an in-place upgrade).
 46 |   To upgrade your robot, see :doc:`these instructions <indigo_to_melodic>`.
 47 | * fetch_teleop/bringup now includes PS4 controller support. See :doc:`how to switch <ps4>`.
 48 | 
 49 | New Fetch Packages:
 50 |  * fetch-melodic-config: 0.2-0ubuntu1 (replaces fetch-system-config)
 51 |  * freight-melodic-config: 0.2-0ubuntu1 (replaces freight-system-config)
 52 | 
 53 | Updated Fetch Packages:
 54 |  * ros-melodic-fetch-bringup: 0.8.6-0 -> 0.8.7-1
 55 |  * ros-melodic-fetch-calibration: 0.8.1-0 -> 0.8.2-1
 56 |  * ros-melodic-fetch-drivers: 0.8.6-0 -> 0.8.7-1
 57 |  * ros-melodic-fetch-depth-layer: 0.8.1-0 -> 0.8.2-1
 58 |  * ros-melodic-fetch-description: 0.8.1-0 -> 0.8.2-1
 59 |  * ros-melodic-fetch-gazebo: 0.9.1-1 -> 0.9.2-1
 60 |  * ros-melodic-fetch-ikfast-plugin: 0.8.1-0 -> 0.8.2-1
 61 |  * ros-melodic-fetch-maps: 0.8.1-0 -> 0.8.2-1
 62 |  * ros-melodic-fetch-moveit-config: 0.8.1-0 -> 0.8.2-1
 63 |  * ros-melodic-fetch-navigation: 0.8.1-0 -> 0.8.2-1
 64 |  * ros-melodic-fetch-teleop: 0.8.1-0 -> 0.8.2-1
 65 |  * ros-melodic-freight-bringup: 0.8.6-0 -> 0.8.7-1
 66 | 
 67 | A full list of updated/new Fetch packages can be found at
 68 | `discourse.ros.org <https://discourse.ros.org/t/preparing-for-melodic-sync-2019-08-12/10256>`__.
 69 | 
 70 | April 4, 2019
 71 | -------------
 72 | A limited release for ROS Melodic, in support of the
 73 | `FetchIt! challenge at ICRA 2019 <https://opensource.fetchrobotics.com>`__.
 74 | 
 75 | Updated Fetch Packages (indigo -> melodic):
 76 |  * ros-melodic-fetch-bringup: 0.7.5-0 -> 0.8.6-0
 77 |  * ros-melodic-fetch-calibration: 0.7.13-0 -> 0.8.1-0
 78 |  * ros-melodic-fetch-drivers: 0.7.28-0 -> 0.8.6-0
 79 |  * ros-melodic-fetch-depth-layer: 0.7.13-0 -> 0.8.1-0
 80 |  * ros-melodic-fetch-description: 0.7.13-0 -> 0.8.1-0
 81 |  * ros-melodic-fetch-gazebo: 0.7.1-0 -> 0.9.1-1
 82 |  * ros-melodic-fetch-ikfast-plugin: 0.7.13-0 -> 0.8.1-0
 83 |  * ros-melodic-fetch-maps: 0.7.13-0 -> 0.8.1-0
 84 |  * ros-melodic-fetch-moveit-config: 0.7.13-0 -> 0.8.1-0
 85 |  * ros-melodic-fetch-navigation: 0.7.13-0 -> 0.8.1-0
 86 |  * ros-melodic-fetch-teleop: 0.7.13-0 -> 0.8.1-0
 87 |  * ros-melodic-freight-bringup: 0.7.5-0 -> 0.8.6-0
 88 |  * ros-melodic-robot-controllers: 0.5.3-0 -> 0.6.0-0
 89 | 
 90 | December 18, 2017
 91 | -----------------
 92 | This sync includes new upstream ROS packages. Updated drivers improve
 93 | battery balancing, which should improve battery life. There are also a number of new features in this release:
 94 | 
 95 |  * fetch_moveit_config now includes an IKFast solver.
 96 |  * fetch_moveit_config now includes apply_planning_scene plugin by default.
 97 |  * fetch_teleop/bringup now includes teleop for the arm and cartesian controllers.
 98 |  * fetch_bringup now includes a diagnostics aggregator.
 99 |  * fetch/freight-system-config now preserves certain ethernet network configurations.
100 | 
101 | Updated Fetch Packages:
102 |  * fetch-system-config: 0.8-8 -> 0.9-1
103 |  * freight-system-config: 0.8-8 -> 0.9-1
104 |  * ros-indigo-fetch-bringup: 0.7.3-0 -> 0.7.5-0
105 |  * ros-indigo-fetch-calibration: 0.7.9-0 -> 0.7.13-0
106 |  * ros-indigo-fetch-drivers: 0.7.15-0 -> 0.7.28-0
107 |  * ros-indigo-fetch-depth-layer: 0.7.9-0 -> 0.7.13-0
108 |  * ros-indigo-fetch-description: 0.7.9-0 -> 0.7.13-0
109 |  * ros-indigo-fetch-maps: 0.7.9-0 -> 0.7.13-0
110 |  * ros-indigo-fetch-moveit-config: 0.7.9-0 -> 0.7.13-0
111 |  * ros-indigo-fetch-navigation: 0.7.9-0 -> 0.7.13-0
112 |  * ros-indigo-fetch-teleop: 0.7.9-0 -> 0.7.13-0
113 |  * ros-indigo-freight-bringup: 0.7.3-0 -> 0.7.5-0
114 |  * ros-indigo-robot-controllers: 0.5.2-0 -> 0.5.3-0
115 | 
116 | New Fetch Packages:
117 |  * ros-indigo-fetch-ikfast-plugin: 0.7.13-0
118 | 
119 | A full list of new upstream packages can be found on
120 | `discourse.ros.org <https://discourse.ros.org/t/new-packages-for-indigo-2017-10-27/3030>`__
121 | 
122 | November 29, 2016
123 | -----------------
124 | This sync includes new upstream ROS packages. In addition it includes
125 | an updated version of sixad that fixes an issue with logs filling the
126 | disk. It is highly recommended that this is installed through the
127 | following commands:
128 | 
129 | ::
130 | 
131 |    sudo apt-get update
132 |    sudo apt-get install sixad
133 | 
134 | Updated drivers improve battery balancing, which should improve battery
135 | life. There are also a number of new features in this release:
136 | 
137 |  * The chrony time service is now installed by fetch-system-config.
138 |  * robot_controllers `adds the ability to dynamically load controllers <https://github.com/fetchrobotics/robot_controllers/pull/23>`__.
139 |  * fetch_bringup includes a :ref:`software runstop feature<software_runstop>` that can turn your PS3 controller into a wireless runstop.
140 | 
141 | Updated Fetch Packages:
142 |  * fetch-system-config: 0.8-4 -> 0.8-8
143 |  * ros-indigo-fetch-bringup: 0.7.1-0 -> 0.7.3-0
144 |  * ros-indigo-fetch-drivers: 0.7.11-0 -> 0.7.15-0
145 |  * ros-indigo-fetch-depth-layer: 0.7.5-0 -> 0.7.9-0
146 |  * ros-indigo-fetch-description: 0.7.5-0 -> 0.7.9-0
147 |  * ros-indigo-fetch-maps: 0.7.5-0 -> 0.7.9-0
148 |  * ros-indigo-fetch-moveit-config: 0.7.5-0 -> 0.7.9-0
149 |  * ros-indigo-fetch-navigation: 0.7.5-0 -> 0.7.9-0
150 |  * ros-indigo-fetch-teleop: 0.7.5-0 -> 0.7.9-0
151 |  * ros-indigo-freight-bringup: 0.7.1-0 -> 0.7.3-0
152 |  * ros-indigo-robot-controllers: 0.5.0-0 -> 0.5.2-0
153 | 
154 | A full list of new upstream packages can be found on
155 | `discourse.ros.org <http://discourse.ros.org/t/new-packages-for-indigo-2016-11-27/898>`__
156 | 
157 | May 28, 2016
158 | ------------
159 | This sync includes new upstream ROS packages. Notably this
160 | release includes updates for a udev rule that maps the PS3
161 | controller to /dev/ps3joy, therefore it is important that
162 | you also install the latest fetch-system-config or
163 | freight-system-config package depending on your robot model.
164 | The :ref:`updating` instructions have been updated to note that
165 | the correct update command is now:
166 | 
167 | ::
168 | 
169 |    sudo apt-get update
170 |    sudo apt-get install --only-upgrade ros-indigo-* f.*-system-config
171 |    sudo service robot stop
172 |    sudo service robot start
173 | 
174 | New drivers improve charge time and performance.
175 | A number of improvements have been made to the fetch_depth_layer
176 | including properly supporting deactivate/activate when plans
177 | are not in progress.
178 | 
179 | Updated Fetch Packages:
180 |  * fetch-system-config: 0.8-0 -> 0.8-4
181 |  * ros-indigo-fetch-bringup: 0.6.0-0 -> 0.7.1-0
182 |  * ros-indigo-fetch-drivers: 0.7.4-0 -> 0.7.11-0
183 |  * ros-indigo-fetch-depth-layer: 0.7.0-0 -> 0.7.5-0
184 |  * ros-indigo-fetch-description: 0.7.0-0 -> 0.7.5-0
185 |  * ros-indigo-fetch-gazebo: 0.7.0-0 -> 0.7.1-0
186 |  * ros-indigo-fetch-gazebo-demo: 0.7.0-0 -> 0.7.1-0
187 |  * ros-indigo-fetch-maps: 0.7.0-0 -> 0.7.5-0
188 |  * ros-indigo-fetch-moveit-config: 0.7.0-0 -> 0.7.5-0
189 |  * ros-indigo-fetch-navigation: 0.7.0-0 -> 0.7.5-0
190 |  * ros-indigo-fetch-teleop: 0.7.0-0 -> 0.7.5-0
191 |  * ros-indigo-freight-bringup: 0.6.0-0 -> 0.7.1-0
192 |  * ros-indigo-robot-controllers: 0.4.3-0 -> 0.5.0-0
193 | 
194 | A full list of new upstream packages can be found on the
195 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2016-May/070011.html>`__
196 | 
197 | January 21, 2016
198 | ----------------
199 | This sync includes new upstream ROS packages. New drivers
200 | include improvements to charge state estimation and a
201 | tool for :ref:`in-field calibration of the torso<torso_calibration>`.
202 | Auto docking includes several fixes for TF-related errors,
203 | as well as a fix for reliability when the odom frame and dock
204 | are aligned.
205 | 
206 | Updated Fetch Packages:
207 |  * ros-indigo-fetch-drivers: 0.7.3-0 -> 0.7.4-0
208 |  * ros-indigo-fetch-auto-dock: 0.1.0-0 -> 0.2.1-0
209 | 
210 | A full list of new upstream packages can be found on the
211 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2016-January/069795.html>`__
212 | 
213 | November 23, 2015
214 | -----------------
215 | This sync includes new upstream ROS packages as well
216 | as minor bug fixes and improvements to drivers. Notably,
217 | the deadman must now be held while tucking the arm, this
218 | allows a user to stop the arm tucking should the robot
219 | collide with an obstacle in the environment.
220 | 
221 | Of note, this release also fixes several inconsistencies
222 | in the wrist_flex range of the robot. If your robot appears
223 | to have an overly limited wrist_flex range, we recommend
224 | recalibrating the robot from a clean URDF after updating
225 | your packages.
226 | 
227 | Maps have been removed from the fetch_navigation package and
228 | moved to their own package, fetch_maps.
229 | 
230 | Updated Fetch Packages:
231 |  * ros-indigo-fetch-drivers: 0.7.1-0 -> 0.7.3-0
232 |  * ros-indigo-fetch-depth-layer: 0.6.2-0 -> 0.7.0-0
233 |  * ros-indigo-fetch-description: 0.6.2-0 -> 0.7.0-0
234 |  * ros-indigo-fetch-gazebo: 0.6.2-0 -> 0.7.0-0
235 |  * ros-indigo-fetch-gazebo-demo: 0.6.2-0 -> 0.7.0-0
236 |  * ros-indigo-fetch-moveit-config: 0.6.2-0 -> 0.7.0-0
237 |  * ros-indigo-fetch-navigation: 0.6.2-0 -> 0.7.0-0
238 |  * ros-indigo-fetch-teleop: 0.6.2-0 -> 0.7.0-0
239 | 
240 | New Fetch Packages:
241 |  * ros-indigo-fetch-maps: 0.7.0-0
242 | 
243 | A full list of new upstream packages can be found on the
244 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2015-November/069765.html>`__
245 | 
246 | November 12, 2015
247 | -----------------
248 | This sync includes new upstream ROS packages as well as
249 | the first release of auto docking.
250 | 
251 | Please note that the MD5 checksum for the dock action
252 | will have changed with this release.
253 | 
254 | Updated Fetch Packages:
255 |  * ros-indigo-fetch-drivers: 0.6.3-0 -> 0.7.1-0
256 |  * ros-indigo-fetch-auto-dock-msgs: 0.5.2-0 -> 0.6.0-0
257 |  * ros-indigo-fetch-driver-msgs: 0.5.2-0 -> 0.6.0-0
258 |  * ros-indigo-fetch-gazebo: 0.6.1-0 -> 0.6.2-0
259 |  * ros-indigo-fetch-gazebo-demo: 0.6.1-0 -> 0.6.2-0
260 | 
261 | New Fetch Packages:
262 |  * ros-indigo-fetch-auto-dock: 0.1.0
263 | 
264 | A full list of new upstream packages can be found on the
265 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2015-September/069629.html>`__
266 | 
267 | August 5, 2015
268 | --------------
269 | This sync includes new upstream ROS packages as well
270 | as minor fixes to the URDF and calibration.
271 | 
272 | Updated Fetch Packages:
273 |  * ros-indigo-fetch-drivers: 0.6.1-0 -> 0.6.3-0
274 |  * ros-indigo-fetch-depth-layer: 0.6.1-0 -> 0.6.2-0
275 |  * ros-indigo-fetch-description: 0.6.1-0 -> 0.6.2-0
276 |  * ros-indigo-fetch-moveit-config: 0.6.1-0 -> 0.6.2-0
277 |  * ros-indigo-fetch-navigation: 0.6.1-0 -> 0.6.2-0
278 |  * ros-indigo-fetch-teleop: 0.6.1-0 -> 0.6.2-0
279 | 
280 | A full list of new upstream packages can be found on the
281 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2015-August/069564.html>`__
282 | 
283 | July 9, 2015
284 | ------------
285 | This sync includes new upstream ROS packages as well as
286 | tuck arm functionality from the robot joystick. This
287 | release also includes charge level estimates for
288 | Fetch and Freight robots.
289 | 
290 | Updated Fetch Packages:
291 |  * ros-indigo-fetch-drivers: 0.5.3-0 -> 0.6.1-0
292 |  * ros-indigo-fetch-depth-layer: 0.5.13-0 -> 0.6.1-0
293 |  * ros-indigo-fetch-description: 0.5.13-0 -> 0.6.1-0
294 |  * ros-indigo-fetch-driver-msgs: 0.5.1-0 -> 0.5.2-0
295 |  * ros-indigo-fetch-gazebo: 0.5.0-0 -> 0.6.1-0
296 |  * ros-indigo-fetch-gazebo-demo: 0.5.0-0 -> 0.6.1-0
297 |  * ros-indigo-fetch-moveit-config: 0.5.13-0 -> 0.6.1-0
298 |  * ros-indigo-fetch-navigation: 0.5.13-0 -> 0.6.1-0
299 |  * ros-indigo-fetch-teleop: 0.5.13-0 -> 0.6.1-0
300 |  * ros-indigo-robot-calibration: 0.4.0-0 -> 0.5.2-0
301 |  * ros-indigo-robot-calibration-msgs: 0.4.0-0 -> 0.5.2-0
302 | 
303 | New Fetch Packages:
304 |  * ros-indigo-fetch-auto-dock-msgs: 0.5.2-0
305 | 
306 | A full list of new upstream packages can be found on the
307 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2015-July/069516.html>`__
308 | 
309 | June 8, 2015
310 | ------------
311 | First publicly available release.
312 | 
313 | New Fetch Packages:
314 |  * ros-indigo-fetch-drivers: 0.5.3-0
315 |  * ros-indigo-fetch-depth-layer: 0.5.13-0
316 |  * ros-indigo-fetch-description: 0.5.13-0
317 |  * ros-indigo-fetch-driver-msgs: 0.5.1-0
318 |  * ros-indigo-fetch-gazebo: 0.5.0-0
319 |  * ros-indigo-fetch-gazebo-demo: 0.5.0-0
320 |  * ros-indigo-fetch-moveit-config: 0.5.13-0
321 |  * ros-indigo-fetch-navigation: 0.5.13-0
322 |  * ros-indigo-fetch-teleop: 0.5.13-0
323 | 
324 | A full list of new upstream packages can be found on the
325 | `ROS mailing list <http://lists.ros.org/pipermail/ros-users/2015-June/069467.html>`__
326 | 


--------------------------------------------------------------------------------
/source/robot_hardware.rst:
--------------------------------------------------------------------------------
 1 | Robot Hardware Overview
 2 | =======================
 3 | 
 4 | .. include:: mechanism_terminology.rst
 5 | .. include:: mechanical_spec.rst
 6 | .. include:: electrical.rst
 7 | .. include:: motion_control.rst
 8 | .. include:: sensors.rst
 9 | 
10 | 


--------------------------------------------------------------------------------
/source/safety.rst:
--------------------------------------------------------------------------------
  1 | Safety
  2 | ======
  3 | 
  4 | Safety is extremely important to Fetch Robotics. Safe operation of
  5 | robots is important yet challenging and it is important to remember
  6 | that safety is a continual process that is shared by the robot
  7 | designer, operator, and administrator. The following section provides
  8 | an overview of the issues, safety-related design features, and a basic
  9 | set of guidelines to support safety when using the Fetch and Freight
 10 | R&D robots.
 11 | 
 12 | Safety Overview
 13 | ---------------
 14 | 
 15 | When operating Fetch and Freight R&D robots users should always be
 16 | conscious of safety. Remember the robots are heavy pieces of equipment
 17 | and have moving parts. As the robots travel through an environment they can
 18 | carry and manipulate a wide variety of objects. Since the Fetch &
 19 | Freight R&D robots are for applications development, their moves and
 20 | actions may not be entirely predictable. Both the Fetch and Freight
 21 | robots can cause significant damage if they fall on or run into a
 22 | person. There are also several ways that the robots can pinch, grab,
 23 | or twist fingers or other body parts (these regions are
 24 | labeled). Fetch can also manipulate dangerous objects and knock over
 25 | heavy objects. People should always be cautious and attentive around
 26 | Fetch and Freight R&D robots.
 27 | 
 28 | .. raw:: html 
 29 | 
 30 |    <iframe src="https://player.vimeo.com/video/131319042" width="700" height="393"  frameborder="0" webkitallowfullscreen mozallowfullscreen allowfullscreen>
 31 |    </iframe>
 32 | 
 33 | Design Features
 34 | ---------------
 35 | 
 36 | While retaining the power of a R&D platform, both the hardware and
 37 | software of Fetch and Freight are designed to minimize risk. The
 38 | exterior of both Fetch and Freight clearly mark regions that could pinch
 39 | or injure while mechanism is in motion or being moved by hand. Both
 40 | Fetch and Freight have emergency stop buttons in case there is a need to
 41 | immediately stop the motion of the robot.
 42 | 
 43 | In software, low-level safety limits have been incorporated to limit
 44 | motor current, motor velocity, range of joint motion, and trajectory
 45 | deviations. High-level applications also integrate the various
 46 | on-board sensors to avoid obstacles when navigating or moving the arm.
 47 | 
 48 | These design features help make Fetch and Freight more robust. However a
 49 | R&D robot is **never** absolutely safe. The application developers'
 50 | safety, as well as the safety of others, depends on the developers'
 51 | constant attention. It is important for the user to be aware of
 52 | potential dangers and learn to anticipate and prevent problems.
 53 | 
 54 | General Usage Guidelines
 55 | ------------------------
 56 | 
 57 | While many guidelines for safe use of a robot stem from common sense,
 58 | a basic set is listed below. It is important to follow these
 59 | guidelines, but please note that these guidelines alone do not
 60 | guarantee safety, only reduce risk.
 61 | 
 62 | * **Before operating** or working with a Fetch or Freight each user must:
 63 | 
 64 |  - Watch the safety video.
 65 |  - Read this user manual, specifically the entirety of Section 2 on Safety.
 66 | 
 67 | * **Supervise children, visitors**, and anyone who has not followed the previous guideline. In particular, make sure they: 
 68 | 
 69 |  - Do not come in range of Fetch or Freight R&D robots when active. 
 70 |  - Are aware that the robot could move unexpectedly and is potentially dangerous.
 71 |  - Are not alone with Fetch or Freight.  
 72 |  - Do not operate Fetch or Freight. 
 73 | 
 74 | * **Maintain a safe environment**. Safety is not only impacted by how a developer operates a robot, but the environment as well. The Fetch and Freight R&D robots are designed to operate in laboratory environments.
 75 | 
 76 |  - Keep the robots **at least 5 meters from the top of a stairway or any other drop off**. 
 77 |  - Make sure the robots have adequate and level space for any expected or unexpected operation. 
 78 |  - If Fetch travels on a ramp, make sure that the spine is lowered and the arm is tucked so that the center of gravity is as low as possible. The slope of the ramp should not exceed 1:12. Also make sure that the robot cannot drive off the edge of the ramp. 
 79 |  - Make sure the environment is free of objects that could pose a risk if knocked, hit, or otherwise affected by the robots. 
 80 |  - Make sure that there are no ropes or cables that could get caught in the covers, wheels, or arm. 
 81 |  - Make sure that no animals are near the robots.
 82 |  - Keep fingers, hair, and clothing away from wheels, gears, and any location marked as a potential pinch point. 
 83 |  - Be aware of the location of emergency exits and ensure that the robots cannot block them. 
 84 |  - Do not operate the robots outdoors. 
 85 | 
 86 | * **The Fetch and Freight covers are flame-retardant**. However keep the robots away from open flames. Never use the robots around stoves or ovens.
 87 | 
 88 | \
 89 | 
 90 | * Do not allow the robot to come in contact with liquids (spilled drink, rain, etc.) If the robots do get wet, turn off the breaker switch at the back of the robot and contact Fetch Robotics.
 91 | 
 92 | \
 93 |  
 94 | * Before removing any covers, the robot should be unplugged and the breaker switch at the back of the robot should be off. 
 95 | 
 96 | \
 97 | 
 98 | * Make sure that the power cord is in good condition. Cord insulation must be intact with no crack or deterioration. Both connectors should be undamaged. If the power supply is damaged in anyway, it should be discarded and replaced with a new one from Fetch Robotics. 
 99 | 
100 | \
101 | 
102 | * Do not run the robot without its covers, the covers help to protect users from internal mechanism pinch points and potential electrical shock.
103 | 
104 | \
105 | 
106 | * Use **common sense** when operating the Fetch and Freight R&D robots.
107 | 
108 |  - Do not allow the robots to grab or hit any person.
109 |  - Do not allow the robots to drive into contact with, or over, any body part. 
110 |  - Do not allow the robot to interact with any sharp or dangerous items.
111 |  - Do not allow the robot to operate potentially dangerous appliances (like stoves) or power tools. 
112 |  - Pay attention to the **warning labels** on the robots.
113 | 
114 | .. warning::
115 |     Do not modify or remove any part of the software safety features
116 | 
117 | Warning Labels
118 | --------------
119 | 
120 | Below are pictures of all the warning labels that can be found on the
121 | robot and associated safety issue.
122 | 
123 | Pinch Point
124 | +++++++++++
125 | .. figure:: _static/pinch_point_label.png
126 |    :width: 30%
127 |    :align: center
128 |    :figclass: align-centered
129 | 
130 | There are several pinch point warning labels on the robot. The labels
131 | mark the regions of the robot that could cause injury to hands or
132 | finger while moving. It is important to hit the run stop immediately
133 | if a finger or hand becomes trapped in a pinch point.
134 | 
135 | Electrical Shock
136 | ++++++++++++++++
137 | .. figure:: _static/electrical_shock_label.png
138 |    :width: 30%
139 |    :align: center
140 |    :figclass: align-centered
141 | 
142 | The electrical shock labels mark regions of the robot that could cause
143 | electrical shock if damaged or wet. If the water enters the battery
144 | compartment of the robot or the power intlet connector, do not
145 | continue operating the robot. Shut the robot down and turn of the
146 | robot using the power disconnect switch on the back of the robot. Then
147 | contact Fetch Robotics support.
148 | 
149 | Laser Beam
150 | ++++++++++
151 | .. figure:: _static/laser_beam_label.png
152 |    :width: 30%
153 |    :align: center
154 |    :figclass: align-centered
155 | 
156 | The laser beam warning label is to remind the user that there is an
157 | active laser scanner in the robot. The laser scanner is a class 1
158 | laser scanner and is eye safe under all **normal** operating
159 | conditions. However it is important to note that incorrect use can
160 | lead to the user being exposed to dangerous radiation. If the laser
161 | housing is damaged on the robot do not continue using the robot or
162 | look directly into the laser beam region.
163 | 
164 | Read The Manual
165 | +++++++++++++++
166 | .. figure:: _static/read_manual_label.png
167 |    :width: 50%
168 |    :align: center
169 |    :figclass: align-centered
170 | 
171 | Read the manual stickers are found beneath the skins of the
172 | robot. It is important for the user to read the manual and other
173 | maintenance documents before attempting to repair or perform
174 | maintenance on the robot.
175 | 
176 | 
177 | 
178 | 


--------------------------------------------------------------------------------
/source/sensors.rst:
--------------------------------------------------------------------------------
 1 | Sensor Overview
 2 | ---------------
 3 | 
 4 | Base Laser
 5 | ++++++++++
 6 | 
 7 | Both Fetch and Freight have a SICK TIM571 scanning range finder. The
 8 | laser has a range of 25m, 220° field of view, 15Hz update rate
 9 | and angular resolution of 1/3°. The laser publishes both distance
10 | and RSSI (Received Signal Strength Indication)
11 | to the **base_scan** topic.
12 | 
13 | IMU
14 | +++
15 | 
16 | The mainboard of Fetch and Freight have a 6-axis inertial measurement
17 | unit (IMU). The gyroscope within the IMU is capable of measuring
18 | +/-2000 degrees per second, while the accelerometers are capable of
19 | measuring +/-2g. See :ref:`imu_api` for details on the ROS API.
20 | 
21 | Head Camera
22 | +++++++++++
23 | 
24 | Fetch has a Primesense Carmine 1.09 short-range RGBD sensor. This
25 | camera is best calibrated in the 0.35-1.4m range. See :ref:`camera_api`
26 | for details on the ROS API.
27 | 
28 | Gripper Sensors
29 | +++++++++++++++
30 | 
31 | In addition to the position and effort feedback of the gripper joint, the
32 | gripper incorporates a 6-axis inertial measurement unit (IMU). The gyroscope within
33 | the IMU is capable of measuring +/-2000 degrees per second, while the
34 | accelerometers are capable of measuring +/-2g.
35 | See :ref:`imu_api` for details on the ROS API.
36 | 


--------------------------------------------------------------------------------
/source/support.rst:
--------------------------------------------------------------------------------
 1 | Issues and Support
 2 | ==================
 3 | 
 4 | When you encounter an issue
 5 | ---------------------------
 6 | 
 7 | As a first step, we recommend checking out the :doc:`FAQ </faq>`.
 8 | 
 9 | Reporting software bugs
10 | -----------------------
11 | 
12 | If you've identified a specific issue in the open source code from Fetch Robotics,
13 | Pull Requests with proposed fixes or Issues describing the issue on Github are welcome.
14 | 
15 | Contacting Fetch Support
16 | ------------------------
17 | 
18 | Reaching Fetch Support
19 | ~~~~~~~~~~~~~~~~~~~~~~
20 | When purchasing robots, customers will have accounts created on the
21 | `Fetch Support Website <http://support.fetchrobotics.com:8080/>`_.
22 | Logging in and creating a ticket here is the preferred method for support requests.
23 | 
24 | If you did not receive this login information, or need to requesting additional
25 | research support logins, please reach out to your sales contact for more information.
26 | 
27 | How do I create a good support ticket?
28 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
29 | Please note which robot you are working with (e.g. Fetch 4) and describe the issues
30 | you are seeing, as well as any possibly related hardware modifications you have made.
31 | You can also attach the debug-snapshot zip file to help debugging via the process below.
32 | 
33 | * Make sure the robot is not runstopped and then run the following commands on your local computer (Not the robot!)
34 | 
35 | ::
36 | 
37 |    sudo apt update && sudo apt install ros-melodic-fetch-tools
38 |    export ROS_MASTER_URI="http://*RobotHostNameGoesHere*:11311"
39 |    rostopic list | grep wc -l  # Verify communication with the robot's ROS master
40 |    fetch debug-snapshot
41 | 
42 | * Create a new support ticket and attach the zip file that was created
43 | 
44 | * Clearly state problem you are having in the ticket so we can better serve you
45 | 


--------------------------------------------------------------------------------
/source/teleop.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Robot Teleop
  2 | ======================
  3 | 
  4 | Using the Robot Joystick
  5 | ------------------------
  6 | .. embed-teleop-start
  7 | 
  8 | Each Fetch and Freight ship with a robot joystick.
  9 | Whenever the robot drivers are running, so is joystick teleop.
 10 | The joystick is capable of controlling the movement of the robot
 11 | base, torso, head and gripper.
 12 | 
 13 | .. warning:: Fetch robots use wireless controllers. As with any wireless
 14 |    technology, maximum range between controller and robot can vary
 15 |    depending on environment. You should experiment with your robot to
 16 |    understand the distance limit at which you can safely control your robot.
 17 | 
 18 | .. note:: If you are using the older PS3 controller a different
 19 |    version of this tutorial can be found :doc:`here </teleopPS3>`.
 20 | 
 21 | .. note:: To switch your robot to use a PS4 controller instead of
 22 |    a PS3 controller, see the instructions :doc:`here </ps4>`.
 23 | 
 24 | .. figure:: _static/ps4_numbered.png
 25 |    :width: 100%
 26 |    :align: center
 27 |    :figclass: align-centered
 28 | 
 29 | .. figure:: _static/ps4_numbered2.png
 30 |    :width: 100%
 31 |    :align: center
 32 |    :figclass: align-centered
 33 | 
 34 | ======== =================================
 35 | Button # Function (details below)
 36 | ======== =================================
 37 |  0       Open gripper
 38 |  1       Control robot turning
 39 |  2       Control forward/backward driving
 40 |  3       Close gripper
 41 |  4       `Disable motor position holding <https://github.com/fetchrobotics/fetch_robots/blob/melodic-devel/fetch_bringup/scripts/controller_reset.py>`_
 42 |  5       Not used
 43 |  6       Arm tuck
 44 |  7       Not used
 45 |  8       Head control deadman
 46 |  9       Linear arm ("tooltip") control
 47 |  10      Primary deadman
 48 |  11      Angular arm ("tooltip") control
 49 |  12      Torso up
 50 |  13      Not used
 51 |  14      Torso down
 52 |  15      Not used
 53 |  16      Pair/unpair with robot
 54 | ======== =================================
 55 | 
 56 | To pair the controller with the robot, press the middle button (16) once
 57 | the robot has powered on.  The controller will vibrate once successful.
 58 | To unpair, hold the button for 10 s.  The LED indicator on top will turn off.
 59 | 
 60 | To drive the robot base, hold the primary deadman button (button 10
 61 | above) and use the two joysticks. The left joystick controls turning
 62 | velocity while the right joystick controls forward velocity.
 63 | 
 64 | .. warning::
 65 | 
 66 |     Whenever driving the robot, always lower the torso and tuck
 67 |     the arm to avoid potentially unstable operation.
 68 | 
 69 | To control the head, release the primary deadman and hold the head
 70 | deadman (button 8). The left joystick now controls head pan while the right
 71 | joystick controls head tilt.
 72 | 
 73 | To move the torso up, hold the primary deadman and press the triangle
 74 | button (12). To move the torso down, hold the primary deadman and press
 75 | the X (14).
 76 | 
 77 | To close the gripper, hold the primary deadman and press the close
 78 | button (3). To open, hold the primary deadman and press the open
 79 | button (0).
 80 | 
 81 | The Fetch arm/gripper can be teleoped by combining several inputs:
 82 | 
 83 | - Linear motion of the end effector: Primary deadman + Button 9 + joystick input
 84 | - Angular motion of the end effector: Primary deadman + Button 11 + joystick input
 85 | 
 86 | Some controllers, such as the arm and head controllers, will attempt to
 87 | hold position indefinitely. Sometimes this is not desired. Holding button (4)
 88 | for 1 second will stop all controllers except the base controller and
 89 | the arm gravity compensation.
 90 | 
 91 | Moving the Base with your Keyboard
 92 | ----------------------------------
 93 | 
 94 | .. note::
 95 | 
 96 |    You will need a computer with ROS installed to properly
 97 |    communicate with the robot. Please consult the `ROS Wiki <http://wiki.ros.org/melodic/Installation>`_
 98 |    for more information. We strongly suggest an Ubuntu machine
 99 |    with ROS Melodic installed.
100 | 
101 | To teleoperate the robot base in simulation, we recommend
102 | using the ``teleop_twist_keyboard.py`` script from
103 | `teleop_twist_keyboard <http://wiki.ros.org/teleop_twist_keyboard>`_
104 | package.
105 | 
106 | ::
107 | 
108 |   >$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311
109 |   >$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
110 | 
111 | .. _software_runstop:
112 | 
113 | .. embed-teleop-end
114 | 
115 | Software Runstop
116 | ----------------
117 | 
118 | In addition to the runstop button on the side of the robot, similar software
119 | functionality is also available, allowing for button presses on the
120 | PS4 controller or a program to disable the breakers.
121 | This functionality is available in release 0.7.3 of the
122 | fetch_bringup package. The teleop portion is disabled by default.
123 | 
124 | Using Software Runstop
125 | ~~~~~~~~~~~~~~~~~~~~~~
126 | 
127 | To activate the software runstop, publish True to the /enable_software_runstop
128 | topic.
129 | 
130 | Alternately, with the teleop runstop enabled, pressing both of the right
131 | trigger buttons (buttons 9 and 11) will activate the software runstop.
132 | The software_runstop.py script in fetch_bringup can be modified to change
133 | the button(s) for the software runstop.
134 | 
135 | Once activated, the software runstop can be deactivated by (1) toggling the
136 | hardware runstop, or (2) disabling the software runstop by passing False to
137 | the /enable_software_runstop topic.
138 | 
139 | Enable Teleop Software Runstop
140 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
141 | 
142 | .. note::
143 | 
144 |    In order to edit the robot.launch file, you will
145 |    need to use a terminal editor (such as nano or vim), or use the -X flag
146 |    with SSH to use a graphical editor (such as gedit). Additionally, the editor
147 |    must be launched with ``sudo``. Instructions below use nano.
148 | 
149 | To enable the software runstop, first SSH into the robot, and then
150 | modify the robot drivers launch file to use it.
151 | 
152 | We need to modify the robot.launch file to pass the correct arg to the
153 | software runstop script:
154 | 
155 | ::
156 | 
157 |   >$ sudo nano /etc/ros/melodic/robot.launch
158 | 
159 | In this file there should be a Software Runstop entry near the end. By default
160 | this entry contains an args line, with a value of "-a -b -g". To add teleop
161 | control, add the "-t" flag as well. This section will then look like the below.
162 | If your robot is an older one and does not have a Software Runstop entry,
163 | you will want to simply copy the block the below.
164 | 
165 | ::
166 | 
167 |   <!-- Software Runstop -->
168 |   <include file="$(find fetch_bringup)/launch/include/runstop.launch.xml">
169 |     <arg name="flags" value="-a -b -g -t" />
170 |   </include>
171 | 
172 | Note that the -a, -b, -g flags correspond to letting the software runstop
173 | control the :ref:`arm, base and gripper breakers<breakers>`,
174 | respectively.
175 | 
176 | Additionally, if completely disabling the software runstop functionality is
177 | desired, the above section in robot.launch can be commented out or removed.
178 | 
179 | Finally, restart the drivers so that our changes take effect:
180 | 
181 | ::
182 | 
183 |   >$ sudo service robot stop && sudo service robot start
184 | 
185 | 
186 | Re-pairing Robot Joystick that Won't Connect
187 | --------------------------------------------
188 | 
189 | For a Bluetooth PS4 controller, the controller can be re-paired through the
190 | Ubuntu Bluetooth settings.  To put the controller in pairing mode, press and
191 | hold the Share button, and then press and hold the center PS4 button for a
192 | second and then release it, and then release the share button.  The LED on
193 | the controller should start flashing twice, once per second.
194 | 
195 | Using Deadzone Parameter to Correct Drift
196 | -----------------------------------------
197 | 
198 | Some controllers may have poorly-zeroed joysticks, meaning that they send a nonzero
199 | value when the joystick is untouched and ought to send a zero value. This will be
200 | apparent if you press the deadman button on the controller, and the robot slowly
201 | moves without any input to the joysticks.
202 | 
203 | This behavior can be compensated for by using a rosparameter: **joy/deadzone**
204 | (`ROS docs <http://wiki.ros.org/joy#Parameters>`__), which defines the amount by
205 | which the joystick has to move before it is considered to be off-center, specified
206 | relative to an axis normalized between -1 and 1.
207 | 
208 | Add/set the parameter in ``/etc/ros/melodic/robot.launch``::
209 | 
210 |   <!-- Teleop -->
211 |     <include file="$(find fetch_bringup)/launch/include/teleop.launch.xml"/>
212 |     <param name="joy/deadzone" value="0.1"/>
213 | 
214 | You can inspect the output of ``rostopic echo /joy`` with the controller
215 | connected to choose an appropriate value for your controller.
216 | 
217 | To test a value after making the above change, with the arm safely resting
218 | so that it won't fall, restart roscore.::
219 | 
220 |     sudo service roscore restart
221 | 


--------------------------------------------------------------------------------
/source/teleopPS3.rst:
--------------------------------------------------------------------------------
  1 | Tutorial: Robot Teleop
  2 | ======================
  3 | 
  4 | Using the Robot Joystick
  5 | ------------------------
  6 | .. embed-pt
  7 | 
  8 | Each Fetch and Freight ship with a robot joystick.
  9 | Whenever the robot drivers are running, so is joystick teleop.
 10 | The joystick is capable of controlling the movement of the robot
 11 | base, torso, head and gripper.
 12 | 
 13 | .. figure:: _static/joystick_numbered.png
 14 |    :width: 100%
 15 |    :align: center
 16 |    :figclass: align-centered
 17 | 
 18 | .. figure:: _static/joystick_numbered2.png
 19 |    :width: 100%
 20 |    :align: center
 21 |    :figclass: align-centered
 22 | 
 23 | ======== =================================
 24 | Button # Function (details below)
 25 | ======== =================================
 26 |  0       Open gripper
 27 |  1       Control robot turning
 28 |  2       Control forward/backward driving
 29 |  3       Close gripper
 30 |  4       Disable motor position holding
 31 |  5       Not used
 32 |  6       Arm tuck
 33 |  7       Not used
 34 |  8       Head control deadman
 35 |  9       Linear arm ("tooltip") control
 36 |  10      Primary deadman
 37 |  11      Angular arm ("tooltip") control
 38 |  12      Torso up
 39 |  13      Not used
 40 |  14      Torso down
 41 |  15      Not used
 42 |  16      Pair/unpair with robot
 43 | ======== =================================
 44 | 
 45 | To pair the controller with the robot, press the middle button (16) once
 46 | the robot has powered on.  The controller will vibrate once successful.
 47 | To unpair, hold the button for 10 s.  The LED indicator on top will turn off.
 48 | 
 49 | To drive the robot base, hold the primary deadman button (button 10
 50 | above) and use the two joysticks. The left joystick controls turning
 51 | velocity while the right joystick controls forward velocity.
 52 | 
 53 | .. warning::
 54 | 
 55 |     Whenever driving the robot, always lower the torso and tuck
 56 |     the arm to avoid potentially unstable operation.
 57 | 
 58 | To control the head, release the primary deadman and hold the head
 59 | deadman (button 8). The left joystick now controls head pan while the right
 60 | joystick controls head tilt.
 61 | 
 62 | To move the torso up, hold the primary deadman and press the triangle
 63 | button (12). To move the torso down, hold the primary deadman and press
 64 | the X (14).
 65 | 
 66 | To close the gripper, hold the primary deadman and press the close
 67 | button (3). To open, hold the primary deadman and press the open
 68 | button (0).
 69 | 
 70 | The Fetch arm/gripper can be teleoped by combining several inputs:
 71 | 
 72 | - Linear motion of the end effector: Primary deadman + Button 9 + joystick input
 73 | - Angular motion of the end effector: Primary deadman + Button 11 + joystick input
 74 | 
 75 | Some controllers, such as the arm and head controllers, will attempt to
 76 | hold position indefinitely. Sometimes this is not desired. Holding button (4)
 77 | for 1 second will stop all controllers except the base controller and
 78 | the arm gravity compensation.
 79 | 
 80 | Moving the Base with your Keyboard
 81 | ----------------------------------
 82 | 
 83 | .. note::
 84 | 
 85 |    You will need a computer with ROS installed to properly
 86 |    communicate with the robot. Please consult the `ROS Wiki <http://wiki.ros.org/melodic/Installation>`_
 87 |    for more information. We strongly suggest an Ubuntu machine
 88 |    with ROS Melodic installed.
 89 | 
 90 | To teleoperate the robot base in simulation, we recommend
 91 | using the ``teleop_twist_keyboard.py`` script from
 92 | `teleop_twist_keyboard <http://wiki.ros.org/teleop_twist_keyboard>`_
 93 | package.
 94 | 
 95 | ::
 96 | 
 97 |   >$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311
 98 |   >$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 99 | 
100 | .. _software_runstop:
101 | 
102 | Software Runstop
103 | ----------------
104 | 
105 | In addition to the runstop button on the side of the robot, similar software
106 | functionality is also available, allowing for button presses on the
107 | PS3 controller or a program to disable the breakers.
108 | This functionality is available in release 0.7.3 of the
109 | fetch_bringup package. The teleop portion is disabled by default.
110 | 
111 | Using Software Runstop
112 | ~~~~~~~~~~~~~~~~~~~~~~
113 | 
114 | To activate the software runstop, publish True to the /enable_software_runstop
115 | topic.
116 | 
117 | Alternately, with the teleop runstop enabled, pressing both of the right
118 | trigger buttons (buttons 9 and 11) will activate the software runstop.
119 | The software_runstop.py script in fetch_bringup can be modified to change
120 | the button(s) for the software runstop.
121 | 
122 | Once activated, the software runstop can be deactivated by (1) toggling the
123 | hardware runstop, or (2) disabling the software runstop by passing False to
124 | the /enable_software_runstop topic.
125 | 
126 | Enable Teleop Software Runstop
127 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
128 | 
129 | .. note::
130 | 
131 |    In order to edit the robot.launch file, you will
132 |    need to use a terminal editor (such as nano or vim), or use the -X flag
133 |    with SSH to use a graphical editor (such as gedit). Additionally, the editor
134 |    must be launched with ``sudo``. Instructions below use nano.
135 | 
136 | To enable the software runstop, first SSH into the robot, and then
137 | modify the robot drivers launch file to use it.
138 | 
139 | We need to modify the robot.launch file to pass the correct arg to the
140 | software runstop script:
141 | 
142 | ::
143 | 
144 |   >$ sudo nano /etc/ros/melodic/robot.launch
145 | 
146 | In this file there should be a Software Runstop entry near the end. By default
147 | this entry contains an args line, with a value of "-a -b -g". To add teleop
148 | control, add the "-t" flag as well. This section will then look like the below.
149 | If your robot is an older one and does not have a Software Runstop entry,
150 | you will want to simply copy the block the below.
151 | 
152 | ::
153 | 
154 |   <!-- Software Runstop -->
155 |   <include file="$(find fetch_bringup)/launch/include/runstop.launch.xml">
156 |     <arg name="flags" value="-a -b -g -t" />
157 |   </include>
158 | 
159 | Note that the -a, -b, -g flags correspond to letting the software runstop
160 | control the :ref:`arm, base and gripper breakers<breakers>`,
161 | respectively.
162 | 
163 | Additionally, if completely disabling the software runstop functionality is
164 | desired, the above section in robot.launch can be commented out or removed.
165 | 
166 | Finally, restart the drivers so that our changes take effect:
167 | 
168 | ::
169 | 
170 |   >$ sudo service robot stop && sudo service robot start
171 | 
172 | 
173 | Re-pairing Robot Joystick that Won't Connect
174 | --------------------------------------------
175 | 
176 | If the Bluetooth robot joystick is a PS3 controller and will no longer
177 | connect to the robot, it can easily be re-paired to the robot by connecting
178 | it to the robot with a USB cable, and then running:
179 | 
180 | ::
181 | 
182 |   # 14.04 with PS3 controller
183 |   >$ sudo sixpair
184 |   # 18.04 with PS3 controller; Note: the controller LEDs will continually flash even when connected
185 |   >$ sudo /opt/ros/melodic/lib/ps3joy/sixpair
186 | 
187 | This situation is most often caused by charging the robot joystick from
188 | the USB port of another computer.
189 | 
190 | Using Deadzone Parameter to Correct Drift
191 | -----------------------------------------
192 | 
193 | Some controllers may have poorly-zeroed joysticks, meaning that they send a nonzero
194 | value when the joystick is untouched and ought to send a zero value. This will be
195 | apparent if you press the deadman button on the controller, and the robot slowly
196 | moves without any input to the joysticks.
197 | 
198 | This behavior can be compensated for by using a rosparameter: **joy/deadzone**
199 | (`ROS docs <http://wiki.ros.org/joy#Parameters>`_), which defines the amount by
200 | which the joystick has to move before it is considered to be off-center, specified
201 | relative to an axis normalized between -1 and 1.
202 | 
203 | Add/set the parameter in ``/etc/ros/DISTRO/robot.launch``::
204 | 
205 |   <!-- Teleop -->
206 |     <include file="$(find fetch_bringup)/launch/include/teleop.launch.xml"/>
207 |     <param name="joy/deadzone" value="0.1"/>
208 | 
209 | You can inspect the output of ``rostopic echo /joy`` with the controller
210 | connected to choose an appropriate value for your controller.
211 | 
212 | To test a value after making the above change, with the arm safely resting
213 | so that it won't fall, restart roscore.::
214 | 
215 |     sudo service roscore restart
216 | 


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/source/visualization.rst:
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 1 | Tutorial: Visualization
 2 | =======================
 3 | 
 4 | .. _rviz:
 5 | 
 6 | Visualizing with RVIZ
 7 | ---------------------
 8 | 
 9 | .. embed-rviz-start
10 | 
11 | ::
12 | 
13 |     >$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311
14 |     >$ rosrun rviz rviz
15 | 
16 | .. figure:: _static/rviz.png
17 |    :width: 100%
18 |    :align: center
19 |    :figclass: align-centered
20 | 
21 | .. note::
22 | 
23 |    You will need a computer with ROS installed to properly
24 |    communicate with the robot. Please consult the `ROS Wiki <http://wiki.ros.org/melodic/Installation>`_
25 |    for more information. We strongly suggest an Ubuntu machine
26 |    with ROS Melodic installed.
27 | 
28 | You can now `manually set up your RVIZ visualization
29 | <http://gazebosim.org/tutorials?tut=drcsim_visualization&cat=drcsim#VisualizingtheRobotmodel>`_
30 | or re-run RVIZ with a configuration file using the command line.
31 | The default ``.rviz`` configuration file for Fetch can be loaded using:
32 | 
33 | ::
34 | 
35 |     >$ roscd fetch_navigation/config
36 |     >$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311
37 |     >$ rviz -d navigation.rviz
38 | 
39 | .. figure:: _static/rviz_navigation.png
40 |    :width: 100%
41 |    :align: center
42 |    :figclass: align-centered
43 | 
44 | .. embed-rviz-end
45 | .. embed-runtime-monitor-start
46 | 
47 | Using the Runtime Monitor
48 | -------------------------
49 | 
50 | Fetch and Freight publish ROS diagnostics messages. These are human-readable
51 | messages that inform users of the robot system state. The `runtime_monitor`,
52 | part of ``rqt_robot_plugins`` can be used to view diagnostics from your
53 | desktop computer:
54 | 
55 | ::
56 | 
57 |     >$ export ROS_MASTER_URI=http://<robot_name_or_ip>:11311
58 |     >$ rosrun rqt_runtime_monitor rqt_runtime_monitor
59 | 
60 | .. figure:: _static/rqt_runtime_monitor.png
61 |    :width: 50%
62 |    :align: center
63 |    :figclass: align-centered
64 | 
65 | The runtime monitor will have one entry per motor controller board (MCB),
66 | as well as one entry per breaker. Each of these entries will be classified
67 | as either stale, an error, a warning, or OK. In the above image,
68 | the supply_breaker is disabled because the robot is not plugged in
69 | -- this is only a warning, and not actually an issue.
70 | 
71 | Common errors that can be detected are overly hot motors or breakers,
72 | breakers that have tripped. When the runstop on Fetch is pressed, a number
73 | of breakers become disabled and the motor controller boards are turned
74 | off, causing them to go stale. The below image shows what a runstopped
75 | Fetch might look like:
76 | 
77 | .. figure:: _static/rqt_runtime_monitor_runstopped.png
78 |    :width: 50%
79 |    :align: center
80 |    :figclass: align-centered
81 | 
82 | .. embed-runtime-monitor-end
83 | 


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