Welcome to COMPAS RRC

Online control for ABB robots over a simple-to-use Python interface.

Requirements

• Windows 10 Pro 64-bit
• CPU 2 GHz
• Memory 8 GB
• Disk 10 GB SSD
• Screen 1920x1080

Installation

Anaconda

• Anaconda 3: Anaconda is an open source scientific Python distribution. With this tool, we can easily create a Python environment. Install Anaconda using default options.

Docker

• Docker Desktop: Docker is a virtualization platform. We use it to run Linux containers for ROS on Windows machines.
• After installation, it is required to enable "Virtualization" on the BIOS of the computer. Usually this requires rebooting your computer and pressing a vendor-specific key (F2, F4, Del are typical options) to enter the BIOS.

Visual Studio

• Visual Studio Code: We recommend VS Code as the Python editor because it offers an easy-to-use interface. With this tool you can develop your process code.
• The following extensions are necessary:
  • Python: Official extension to add support for Python programming, including debugging, auto-complete, formatting, etc.
  • Docker: Add support for Docker containers to VS Code.
  • EditorConfig: Add support for .editorconfig files to VS Code.
• The following extensions are recommended:
  • vscode-pdf: View PDF documents inside VS Code.
  • RAPID ABB: Syntax highligher for RAPID files in VS Code.

RobotStudio

• ABB RobotStudio: We use this tool to simulate the robot cells. Available for free on a 30-days trial version. Universities usually obtain free license packages, commercial users require paid subscriptions for robot simulation.
• After installation, start RobotStudio and navigate to the Add-in tab and make sure you add the following packages:
  • Latest RobotWare version for IRC5
  • Latest RobotWare version for OmniCore

Start

Get started

• Download or clone this repository to have all the required files on your computer

Start the robot

• Unpack a Pack&Go (.rspag) file with a double-click. Files are in the robotstudio-stations folder.
• Navigate to the Controller tab and open FlexPendant
• Navigate to the Simulation tab and start the simulation (use the Play button in RobotStudio, not the one on the FlexPendant)

Start ROS driver

• Make sure Docker Desktop is running (a Docker icon should appear in the Windows tray)
• Open VS Code and open this repository folder
• Navigate to the docker\virtual_controller folder
• Compose up the docker-compose.yml file with a right-click

Start examples

• Make sure your conda environment has compas_rrc installed.
• Navigate to the python folder
• Run compas_rrc_A_welcome.py

Thank you for your interest in COMPAS_RRC

If you need further help, please go to the forum or contact us directly rrc@arch.ethz.ch.