Trajectory Replay

Source ROS

source /opt/ros/humble/setup.bash

Clone this

mkdir -p trajectory_replay_ws/src && cd trajectory_replay_ws/src && \
git clone https://github.com/KCL-BMEIS/trajectory_replay.git && cd ..

Clone dependencies

vcs import src < src/trajectory_replay/repos.yml

Build

colcon build && \
source install/setup.bash

Record Trajectory

• Launch the system

ros2 launch lbr_demos_fri_ros2_advanced_cpp admittance_control_node.launch.py model:=med7 # port_id:=[30200, 30201] (depends on configuration)

• Start recording

ros2 bag record /lbr/state

• Convert trajectory to .csv file

python rosbag_to_csv.py --rosbag_path <path_to_rosbag> --lbr_state_topic /lbr/state

Play Trajectory

• Turn on robot
• Remove everything with cables from the end-effector
• Execute braketest, robot will move upright! (AUT ot T1 mode)
• Put robot into T1 mode
• Move robot into desired start position (close to brain)
• Launch LBRServer. (10ms -> 172.31.1.148 -> POSITION_CONTROL -> POSITION)
• Open terminal and run

source trajectory_replay/install/setup.bash
ros2 launch lbr_bringup bringup.launch.py model:=med7 sim:=false # port_id:=[30200, 30201] (depends on configuration)

• Put robot into AUT mode
• Open another terminal and run

source trajectory_replay/install/setup.bash
ros2 launch trajectory_replay joint_trajectory_client_node.launch.py seconds_from_start:=1 # integer >= 1