Hardware prerequisites and readiness#

Prerequisites: a completed image-only workflow and a reviewed workcell. Outcome: identify what must be ready before GTA can execute a skill.

The reference integration uses ROS 2 Humble, UR5e, Robotiq, and ZED. GTA provides interfaces to this workcell; it does not install every external driver, calibrate the camera, or validate a robot’s motion envelope.

1. Separate the responsibilities#

Supplied by GTA

Supplied by your workcell

Camera subscribers and image-file input

Camera SDK/driver and ROS publishers

Image keypoints and pixel-to-cloud lookup

Dense aligned point cloud in the correct frame and units

UR5e RTDE state/control integration

Robot network, controller setup, RTDE packages

Gripper action client

Compatible gripper action server

Configurable tool geometry

Measured TCP, tool axes, payload, and calibration

Managed script/server supervision

Physical safety measures and operator review

2. Check the workcell before starting a run#

  1. Complete the ROS environment checks in the terminal used to start GTA.

  2. Verify the RGB and point-cloud contract, including units, ordering, registration, and coordinate frame.

  3. Verify robot and gripper configuration, including action semantics.

  4. Review TCP/tool geometry and calibration.

  5. Confirm only one intended system owns robot motion.

  6. Review all reset poses, tool clearance, workpiece placement, and stopping procedures.

  7. Requery the current scene and regenerate/review the script.

Warning

A green application status or a discovered ROS topic is not a safety check. Confirm physical clearance and keep the robot’s emergency stop accessible. Do not use a generated skill as the first test of unverified calibration.

3. Choose one execution owner#

For dashboard-managed execution, leave the camera pipeline and gripper driver running but do not separately start the GTA motion server. The dashboard starts and stops its own server.

Standalone execution is a separate operator-controlled workflow. Never mix it with a managed run or run standalone reset/gripper utilities concurrently.

Verify: each prerequisite is independently established and the current script has been reviewed. Continue with managed execution.