Manufacturing Workcell ROS Backend

Developed using ROS2

Network

Validated on

• Ubuntu 24.04
• ROS2 Jazzy

Getting Started

Clone the repo

git clone https://github.com/VT-CRO/Workcell-ROS.git
cd Workcell-ROS

Build mc2425 and mc2425_msgs

colcon build --packages-select mc2425 mc2425_msgs

Source the install

source install/setup.bash

Copy the klipper2ros.py communication file to the klipper directory

cp klipper2ros.py $HOME/klipper

Install the requirements

pip install -r requirements.txt --break-system-packages

Commands

To run the mainController node

ros2 run mc2425 mainController

To run the printer node

export PRINTER_ID=1 # This is an integer that is unique to a specific printer node
# If you want to permanently save the printer ID use the following command:
# echo "export PRINTER_ID=1" >> ~/.bashrc
ros2 run mc2425 printer

To run the pickAndPlace node

ros2 run mc2425 pickAndPlace

To add a part to the shelf DEPRECATED

ros2 run mc2425 addPrint --ros-args -p printer:=<INTEGER> -p height:=<FLOAT> -p name:=<STRING> -p author:=<STRING>

To remove a part from the shelf

ros2 run mc2425 removePart --ros-args -p shelf:=<INTEGER>

To validate a part is in a shelf slot

ros2 run mc2425 shelfCheck --ros-args -p shelf:=<INTEGER>

To request a file, ensure that the main controller and printer nodes are runnning

ros2 run mc2425 requestGcode

TODO

• Connection to Klipper nodes (Should each printer be its own node or should it just call Klipper commands through API?)
• Function to determine whether removal or plate movement should occur
• Removal node implementation