Can be found at: /etc/systemd/system/ros.service /etc/systemd/system/ros-watchdog.service
Monitors for 'rostopic list' success to ensure the ROS Master (192.168.1.50) is up
- On success it will run the 'tmux-cgras-headless.sh' script as root
/home/qcr/cgras2025_ws/src/cgras_dev_scripts/tmux-cgras-headless.sh
NOTE: If you are on the Nuc and want to view this tmux session it runs as root
- You will need to sudo su and then tmux attach-session -t Nuc-Command
Window 1
- roslaunch cgras_moveit_config cgras_robot.launch
- Connection to UR and Scene
- roslaunch cgras_moveit_config moveit_planning_execution.launch
- MoveIt...
- python3 /home/qcr/cgras2025_ws/src/cgras_dev_scripts/navigation-debugger.py
- Watchdog to intercept erronious plans and send stop to MoveIt
- NOTE: This should be intergrated into the arm_commander such that trajectory plans are evaluated prior to execution request
- /home/qcr/cgras2025_ws/src/cgras_dev_scripts/reset-ur-controller.sh && rosrun cgras_robot_manipulator ros_server.py
- reset-ur-controller.sh script to call ur reset service sequence prior to running the ros_server.py
- ros_server.py this is the node that responds to GUI requests to navigate to TankID/TileID/ImageID locations
Window 2
- roslaunch realsense2_camera framos_rs_camera.launch
- FRAMOS camera for calibration
- rosrun handeye handeye_server.py
- Calibration server for FRAMOS to UR calibration sequence
- NOTE: this is implemented in calibration-navigation.py but NOT in the GUI driven stack (no time and low level requirement as the transform from FRAMOS to UR should only change if someone uses a screwdriver on it...)
- rosrun moveit_calibration_detector moveit_calibration_detector_node
- Detects the calibration tags
- python3 /home/qcr/cgras2025_ws/src/cgras_dev_scripts/robot-reset-recovery-node.py
- Node to monitor robot_mode and Safety_mode and run the UR reset service request similar to reset-ur-controller.sh