# myCobotROS

[![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)](READMEcn.md)

[English](README.md) | [中文](READMEcn.md)

![Demo](./Screenshot-1.png)

**Notes**:

<!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->

> Make sure that `Atom` is flashed into the top Atom and `Transponder` is flashed into the base Basic .The tool download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
> ubuntu: 16.04LTS<br>
> ros version: 1.12.17

**If your `Atom` is 2.3 or before, or `pymycobot` is 1.\*, Please check branch [before](https://github.com/elephantrobotics/myCobotRos/tree/before)**

Download ROS [http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation)

## 1. Installation

### 1.1 Pre-Requriements

For using this package, the [Python api](https://github.com/elephantrobotics/pymycobot.git) library should be installed first.

```bash
pip install pymycobot --user
```

### 1.2 Package Download and Install

Install ros package in your src folder of your Catkin workspace.

```bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/elephantrobotics/myCobotROS.git
$ cd ~/catkin_ws
$ catkin_make
```

### 1.3 Test Python API

```bash
cd ~/catkin_ws/src/myCobotROS
python scripts/test.py
```

## 2. Package Modules

### 2.1 Nodes

- `display` is a display node. When the node is running, the model of ROS will show the movement of mycobot synchronously.
- `control_slider` is the node which slider bar control.
- `control_marker` is the node which use interactive marker control.

### 2.2 Topics

- `joint_states` - control mycobot status.

  ```
  Message_type: std_msgs/JointState
  Data: position[float, float, float, float, float, float]
  ```

## 3. Visualization in RViz

### 3.1 Functions

- Visualization -- display.launch: This function will display robot arm movement in realtime when you manually move mycobot.

- Control -- control.launch: This function will allow you use slider bar to control movement of the robot arm.

### 3.2 Lanuch and Run

- **Use slide bar to control**

    - launch ros and rviz

    ```
    roslaunch myCobotROS control_slider.launch
    ```

    - run python script

    ```
    rosrun myCobotROS control_slider.py
    ```

- **The model moves with the real manipulator**

    - launch ros and rviz

    ```
    roslanuch myCobotROS mycobot.launch
    ```

    - run python script

    ```
    rosrun myCobotROS display.py
    ```


<!-- If you use the above command, then you may need to manually add some model components. If you don't want to be so troublesome, you can use the following command to load a saved **myCobot** model.

```bash
rosrun rviz rviz -d rospack find myCobotROS/config/mycobot.rviz
``` -->

## Q & A

**Q: error[101]**

**A:** Make sure that the serial port is not occupied, and that the correct firmware is burned in for atom and basic