The integration between D-Robot and the IMS carried out in the pre-pilot by Robotnik and ATOS. During the pre-pilot, Robotnik, next to ATOS were able to test the interaction between the Information Management System (IMS) and the D-Robot. The main objective was to receive a command through the IMS for the D-Robot to execute, as well as to send back to the IMS, the status of the D-Robot.
From Robotnik’s side, for the pre-pilot (as the D-Robot was not available) a D-Robot simulation using Gazebo was prepared, which mimics the real behavior of the selected KUKA arm. The software (manipulation application and controller) used to move the robot in the simulation is the same, as the one to be implemented in the real D-Robot. For the CoRoSect project, Robotnik has developed a manipulation application based on ROS and MoveIt that enables the robot to robustly and accurately destack and stack crates filled with insects. MoveIt is an Open Source tool that allows robot trajectory path planning taking into account the modelled robot environment, which is used for collision avoidance. The modelled environment can also be modified dynamically, so the robot can interact with the modelled environment. This modelled environment is used to move crates around without collision. MoveIt also allows defining custom movement constraints to enable planning trajectories that follow a desired behavior. In addition, orientation constraints can be added to avoid the robot from tilting the crates while transporting them. Furthermore, Robotnik developed an OPC-UA server which connects to the CoRoSect IMS. The D-Robot OPC-UA server exposes to the IMS the different command actions available in the D-Robot, it also updates the status of the D-Robot dynamically (whether it is moving, executing commands, or if the commanded actions have succeeded or failed). The D-Robot OPC-UA server is a bridge between the IMS and our software developed using ROS, where ROS actions and services are used to command the robot.
At the pre-pilot in Entomotech, Robotnik and ATOS successfully tested the connection between the IMS and the D-Robot through the OPC-UA server. Below is a diagram of the connection pipeline that was tested.