WEBVTT 00:00.110 --> 00:05.960 In this final laboratory lesson, we will create a new launch file and use it to start all the functionalities 00:05.960 --> 00:12.650 that we have developed so far during the course with the real robot to which we will give comments through 00:12.650 --> 00:14.270 the Voice assistant. 00:15.120 --> 00:20.310 Let's start by creating a new launch file within the Arduino board, bring up package. 00:20.310 --> 00:27.750 So here within the launch folder where we have already created the simulated robot dot launch, let's 00:27.780 --> 00:33.540 add a new file called Real Robot Dot Launch. 00:35.330 --> 00:35.930 Dot py. 00:36.530 --> 00:40.760 And since most of the applications that we want to run for the real robot. 00:40.790 --> 00:43.070 Work the same as for the real robot. 00:43.070 --> 00:47.210 As for the simulation, we can copy the content of the simulated. 00:47.240 --> 00:51.680 Robot and let's paste it here within the real robot. 00:51.710 --> 00:56.630 But anyway, for the real robot, we are not going to need Gazebo, for example. 00:56.870 --> 01:03.110 And also in this launch file, let's remove Gazebo here from the launch description. 01:03.320 --> 01:10.790 And now all this left is to change the value of the is sim argument for the controller and set it to 01:10.790 --> 01:11.180 false. 01:11.180 --> 01:17.840 So if you remember in the previous lessons we have added an argument to the controller dot launch dot 01:17.840 --> 01:18.200 pi. 01:19.280 --> 01:20.930 So this one, the SEC. 01:21.170 --> 01:28.250 And so let's customize this one to indicate that we want to launch the control system for the real robot. 01:28.340 --> 01:32.960 So here, let's set this one to false. 01:32.960 --> 01:35.990 And also let's do the same for Move It. 01:36.110 --> 01:40.490 So let's set the argument is same to false and we can leave instead. 01:40.490 --> 01:46.040 All the other instructions in the launch file unchanged as they are independent of whether we are using 01:46.040 --> 01:48.170 the real robot or the simulated one. 01:48.980 --> 01:54.010 Now everything is ready so we can finally see the result of our hard work. 01:54.020 --> 01:59.030 And so we can start all the functionality, all the applications that we have developed in this course. 01:59.600 --> 02:02.090 So let's connect the robot. 02:02.120 --> 02:08.420 Or better, let's connect the Arduino board that controls the robot to the PC through a USB cable. 02:09.380 --> 02:16.010 We have already uploaded the code on our board and so it is ready to take commands. 02:16.160 --> 02:18.830 Now let's open a new terminal. 02:19.460 --> 02:23.600 Let's go into the workspace and let's build it. 02:24.640 --> 02:27.910 And so this will compile also the new launch file that we have created. 02:28.210 --> 02:32.500 Now, within a new terminal, let's source the workspace. 02:32.650 --> 02:36.130 And now we can start all the functionalities for our robot. 02:36.130 --> 02:42.470 So with the command Ros to launch and from the Arduino bot, bring a package. 02:42.490 --> 02:47.320 Let's start the real robot dot launch dot pi. 02:47.470 --> 02:49.180 So let's press enter. 02:49.450 --> 02:53.920 We can see that there is an error, so let's go back. 02:55.980 --> 03:01.020 Most probably there is an error with the hardware interface and we can see the error here. 03:01.020 --> 03:03.870 So the error is with the Ros2 control library. 03:03.960 --> 03:09.870 And in fact we have we are using an invalid tag, so we have a typo. 03:10.110 --> 03:18.600 So if we go back in Visual Studio code and if we open the Arduino board ros2 control, we can see that 03:18.600 --> 03:19.890 the error is here. 03:20.130 --> 03:22.260 The name of the tag is Zakro. 03:22.590 --> 03:26.790 And then and unless so, let's save this. 03:27.210 --> 03:30.090 Let's interrupt the execution of our launch file. 03:30.090 --> 03:36.540 Now let's build the workspace again and let's give it one more try. 03:38.860 --> 03:43.930 Here, we can see that there is also an error in loading the controllers. 03:44.560 --> 03:49.660 So we can see that it wasn't able to loading the gripper controller. 03:49.690 --> 03:54.280 The joint state broadcaster and neither the arm controller. 03:55.140 --> 04:02.520 So if we go back to Visual Studio code, this is because if we go in the controller launch. 04:03.140 --> 04:05.660 Here, we can see that there is a typo. 04:05.870 --> 04:12.830 So here when we start the controller manager, we are passing the configuration file and we are passing 04:12.830 --> 04:16.730 the Arduino board controller, but the name is Arduino board controllers. 04:16.970 --> 04:19.510 So let's add the S here. 04:19.520 --> 04:22.100 So let's save it again. 04:22.100 --> 04:27.350 Let's interrupt the execution of the script and let's build it again. 04:29.600 --> 04:31.220 Let's give it one more try. 04:32.510 --> 04:36.140 Now we can see that the controllers are loaded correctly. 04:39.820 --> 04:41.200 And everything is working. 04:41.200 --> 04:47.530 So as we started this file, we can already see that the robot arm brings itself in the on position. 04:47.890 --> 04:53.350 Now we can also start moving our robot arm by opening a new terminal. 04:53.350 --> 04:57.640 And here let's start ngrok to communicate with Alexa. 04:57.880 --> 05:06.460 So let's go to the download folder in which I have the ngrok and let's start it with the command and 05:06.610 --> 05:07.000 rock. 05:07.030 --> 05:14.350 Let's start an Http server and then we want to open the port 5000 of the PC. 05:15.490 --> 05:22.420 Now, as you remember, as we are using the free version of Ngrok, we need to copy the new address 05:22.420 --> 05:23.650 that it provides. 05:23.890 --> 05:30.290 So let's copy this address here and let's paste it within the Alexa developer console. 05:30.310 --> 05:32.050 So within our skill. 05:33.680 --> 05:39.140 Let's go to the endpoint section and let's change the endpoint with the new one. 05:39.200 --> 05:40.580 Let's save it. 05:42.640 --> 05:46.930 And then now we can finally start sending comments to our real robot. 05:46.960 --> 05:50.140 So let's put the developer here. 05:50.260 --> 05:53.110 Let's go into the test section. 05:53.290 --> 05:55.390 Let's put our RVs here. 05:55.390 --> 05:58.930 So here in our RVs, we are going to see also the robot moving. 05:58.930 --> 06:05.500 So we will see both the real robot and also in RVs here, the user interface, the robot moving. 06:06.240 --> 06:08.640 So let's start interacting with Alexa. 06:09.790 --> 06:11.530 Activate robot. 06:14.360 --> 06:14.890 Hi. 06:14.900 --> 06:15.920 How can I help? 06:17.030 --> 06:18.080 Pick the pen. 06:20.580 --> 06:21.100 Okay. 06:21.150 --> 06:22.020 I'm moving. 06:25.080 --> 06:28.330 And now, as you can see, the real robot. 06:28.350 --> 06:31.250 And also we have its feedback in service. 06:31.290 --> 06:34.200 They are moving into the peak position.