mogi_chess_ros_framework

Working MoveIt Dependencies:

srdfdom 0.6.0
geometric_shapes 0.7.3
moveit_msgs 0.11.1
moveit 1.0.7

Dependencies:

https://github.com/dudasdavid/Universal_Robots_ROS_Driver/tree/ur3e-tool https://github.com/dudasdavid/universal_robot/tree/chess-detector https://github.com/dudasdavid/RH-P12-RN-A/tree/ur3e-gripper https://github.com/dudasdavid/mogi_chess_ros_framework/tree/main https://github.com/dudasdavid/usb_cam/tree/develop

How to use?

0. Make sure every gazebo path is correct for the simulation!

add to .bashrc:

export GAZEBO_MODEL_PATH=~/catkin_ws/src/mogi_chess_ros_framework/mogi_chess_gazebo/gazebo_models/

1. Start low level robot nodes:

Bringup in Gazebo

roslaunch ur_gazebo ur3e_bringup.launch limited:=true gazebo_world:='$(find mogi_chess_gazebo)/world/chessboard.world' spawn_z:=1.02
roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch sim:=true limited:=true

Bringup real robot

UR3e

roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=10.0.0.244 limited:=true
roslaunch rh_p12_rn_a_tools bringup.launch
roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch limited:=true

UR5e

roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.50.221 limited:=true
roslaunch rh_p12_rn_a_tools bringup.launch
roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch limited:=true

2. Start HW interface, chess manager and player nodes

Gazebo:

roslaunch mogi_chess_manager manager.launch sim:=true

Real robot

roslaunch mogi_chess_manager manager.launch

Always do the calibration with the chess manager first...

... by pressing c, this can validate the x, y offset of the table, height, orientation of the robot, etc is correct

If calibration is all right we can start a test game without camera feedback

roslaunch mogi_chess_manager stockfish_player.launch side:=b
roslaunch mogi_chess_manager stockfish_player.launch side:=w

or

roslaunch mogi_chess_manager human_player.launch side:=w

Continue only if everything is working fine including chess clock position and hit pieces drop location!!!

3. Prepare learning set and teach the neural network, if network is ready go to 4.1

Start vision package and save samples

roslaunch mogi_chess_vision split_and_save.launch
roslaunch mogi_chess_manager manager.launch save:=true
roslaunch mogi_chess_manager stockfish_player.launch side:=b
roslaunch mogi_chess_manager stockfish_player.launch side:=w

Gazebo:

roslaunch mogi_chess_manager manager.launch sim:=true save:=true
roslaunch mogi_chess_vision split_and_save.launch sim:=true
roslaunch mogi_chess_manager stockfish_player.launch side:=b
roslaunch mogi_chess_manager stockfish_player.launch side:=w

Train the model:

python3.8 train_simple_model.py -s true

Do not use train.py because that was a not working dead end with CNN detection for every piece Simple model is just distinguishing black/white/empty fields

4.0. Setup the clock serial port:

microlab@microlab:~$ sudo usermod -a -G tty microlab
microlab@microlab:~$ sudo usermod -a -G dialout microlab
sudo chmod 666 /dev/ttyACM0

4.1. start manual game and optical tracker:

Real robot

roslaunch mogi_chess_manager manager.launch
roslaunch mogi_chess_vision split_and_track.launch
roslaunch mogi_chess_manager manual_player.launch
roslaunch mogi_chess_manager stockfish_player.launch side:=b level:=20

Gazebo

roslaunch mogi_chess_manager manager.launch sim:=true
roslaunch mogi_chess_vision split_and_track.launch sim:=true
rosrun mogi_chess_gazebo virtual_chess_clock.py
roslaunch mogi_chess_manager manual_player.launch
roslaunch mogi_chess_manager stockfish_player.launch side:=b

and move the pieces in Gazebo

save additional extra samples:

roslaunch mogi_chess_vision save_snapshots.launch

Useful links:

http://chess.fortherapy.co.uk/home/chess-piece-identification-technology/

Note: manual player's promotion is always queen!

Python dependencies: sudo apt-get install python3-tk python3.8 -m pip install chess python3.8 -m pip install cairoSVG

UPDATE:

roslaunch ur_gazebo ur3e_bringup.launch (gazebo_world:='$(find mogi_chess_gazebo)/world/chessboard.world' spawn_z:=1.02) roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch sim:=true

UR5e:

roslaunch ur_gazebo ur5e_bringup.launch spawn_y:=-0.3 roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch sim:=true roslaunch mogi_chess_manager manager.launch sim:=true config:=ur5e.yaml

AUTO PLAY:

roslaunch ur_gazebo ur3e_bringup.launch gazebo_world:='$(find mogi_chess_gazebo)/world/chessboard_black_wins.world' roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch sim:=true

roslaunch mogi_chess_hw_interface robot_interface.launch sim:=true

bash autolaunch.bash (roslaunch mogi_chess_manager auto_manager.launch)

Obsolete Dependencies

BioIK: https://github.com/dudasdavid/bio_ik

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