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https://github.com/elephantrobotics/mycobot_ros.git
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110 lines
2.3 KiB
Markdown
110 lines
2.3 KiB
Markdown
# myCobotROS
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**Notes**:
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<!-- This is the mycobot ROS package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
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> Make sure that `Atom2.1alpha` 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>
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> ubuntu: 16.04LTS<br>
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> ros version: 1.12.17
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## 1. Installation
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### 1.1 Pre-Requriements
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For using this package, the [pymycobot]() library should be installed first.(demo comes with)
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### 1.2 Package Download and Install
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Install ros package in your src folder of your Catkin workspace.
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```bash
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$ cd ~/catkin_ws/src
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$ git clone https://github.com/elephantrobotics/myCobotROS.git
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$ cd ~/catkin_ws
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$ catkin_make
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```
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### 1.3 Test API
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```bash
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cd ~/catkin_ws/src/myCobotRos
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python3 scripts/test.py
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```
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If the myCobot color change to red, it's mean the API is working normally.
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## 2. Package Modules
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### 2.1 Nodes
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- `display` is a display node. When the node is running, When the node is running, the model of ROS will show the movement of mycobot synchronously.
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- `control_slider` is the node which slider bar control.
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- `control_marker` is the node which use interactive marker control.
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### 2.2 Topics
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- `joint_states` - control mycobot status.
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```
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Message_type: std_msgs/JointState
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Data: position[float, float, float, float, float, float]
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```
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## 3. Visualization in RViz
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### 3.1 Functions
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- Visualization -- display.launch: This function will display robot arm movement in realtime when you manually move mycobot.
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- Control -- control.launch: This function will allow you use slider bar to control movement of the robot arm.
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### 3.2 Lanuch and Run
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-**Step 1**: In one terminal, open the core.
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```bash
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rocore #open another tab
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```
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-**Step 2**: Launch
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a) For display or marker control, in second terminal, run:
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```bash
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roslaunch myCobotROS mycobot.launch
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```
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b) For slider bar control, in second terminal, run:
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```
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roslaunch myCobotROS control.launch
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```
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-**Step 3**: Open rviz to view robot
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```bash
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rosrun rviz rviz
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```
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-**Step 4**: Run python script
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a) For display
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```bash
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rosrun myCobotRos display.py
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```
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b) For slider bar.
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```bash
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rosrun myCobotRos control_slider.py
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```
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c) For marker control
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```bash
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rosrun myCobots control_marker.py
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```
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