SNP Implementation at Automate 2022

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong

SNP Implementation at Automate 2022

This demo uses a Motoman HC10 mounted on a table with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for polishing the part in a raster pattern

Build Setup

Follow the build setup instructions for the main repository
Clone the application-specific ROS2 dependencies into the same workspace

    cd <snp_workspace>
    vcs import src < snp_automate_2022/dependencies.repos
    

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

ROS1 Hardware Interface Software Installation

Install the requisite ROS1 driver software to run the application on hardware

Note: this step is not required to run the application in simulation only

Build the ros1_bridge
- Create a new workspace, clone this branch of the ros1_bridge repository

      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git

- Source the both ROS distros

      source /opt/ros/foxy/setup.bash
      source /opt/ros/noetic/setup.bash
      

- Build the bridge

      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
      

Build the ROS1 workspace
- Create a new workspace, clone this commit of the motoman repository

      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git

- Source the ROS1 installation

      source /opt/ros/noetic/setup.bash

- Build the repo

      catkin build

Running the system

Simulation

ros2 launch snp_automate_2022 start.launch.xml

On Hardware

Start the ROS1 launch file in a new terminal

    cd <ros1_workspace>
    source devel/setup.bash
    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
    

Run the bridge in a second terminal

    cd <bridge_workspace>
    source install/setup.bash
    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    

Start the ROS2 launch file in a third terminal

    cd <snp_workspace>
    source install/setup.bash
    ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false
    

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ros_industrial_cmake_boilerplate
	ament_cmake
	snp_tpp
	snp_application
	industrial_reconstruction
	joint_state_publisher
	joint_state_publisher_gui
	xacro
	robot_state_publisher
	rviz2
	controller_manager
	joint_state_broadcaster
	joint_trajectory_controller
	hardware_interface
	realsense2_camera

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/start.launch.xml
- - sim_vision [default: True]
  - sim_robot [default: True]
  - sim_execution [default: $(var sim_robot)]
  - mesh_file [default: $(find-pkg-share snp_automate_2022)/meshes/part_scan.ply]
  - scan_trajectory_file [default: $(find-pkg-share snp_automate_2022)/config/scan_traj.yaml]
  - verbose [default: True]
  - touch_links [default: [table, base_link, floor]]
  - robot_description_file [default: $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro]
  - robot_description [default: $(command 'xacro $(var robot_description_file)')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - reference_frame [default: base_link]
  - follow_joint_trajectory_action [default: joint_trajectory_position_controller/follow_joint_trajectory]
  - follow_joint_trajectory_action [default: joint_trajectory_action]
launch/test.launch.xml
- - robot_description [default: $(command 'xacro $(find-pkg-share snp_automate_2022)/urdf/workcell.xacro')]
  - robot_description_semantic [default: $(command 'cat $(find-pkg-share snp_automate_2022)/config/workcell.srdf')]
  - use_gui [default: true]
  - rviz [default: true]
  - rviz_config [default: $(find-pkg-share snp_automate_2022)/config/rviz_base_config.rviz]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `snp_automate_2022` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

snp_automate_2022 package from industrial_training repo

myworkcell_core myworkcell_support myworkcell_moveit_config ur5_demo_descartes ur10_demo_descartes lesson_perception filter_call py_perception detect_pump myworkcell_msgs snp_motion_planning snp_application snp_automate_2022 snp_motion_execution snp_msgs snp_scanning snp_tpp cal_demo_intrinsics cal_demo_motion cal_demo_moveit_config cal_demo_support plan_and_run ur5_demo_moveit_config ur5_demo_support pick_and_place pick_and_place_perception pick_and_place_support collision_avoidance_pick_and_place object_manipulation_msgs robot_config robot_io sensor_config ur5_collision_avoidance_moveit_config industrial_moveit2_utils pick_and_place_application pick_and_place_msgs robot_workcell_support ur5_workcell_moveit2_config

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS-Industrial Training Material
Checkout URI	https://github.com/ros-industrial/industrial_training.git
VCS Type	git
VCS Version	humble
Last Updated	2025-07-22
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	ros ros-industrial
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This is the bringup package for launch the ros2 components of the workshop

Additional Links

No additional links.

Maintainers

Levi Armstrong

Authors

Levi Armstrong