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148 lines
7.5 KiB
Markdown
148 lines
7.5 KiB
Markdown
# mycobot_ros
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<!-- ALL-CONTRIBUTORS-BADGE:START - Do not remove or modify this section -->
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[](#contributors)
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<!-- ALL-CONTRIBUTORS-BADGE:END -->
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[](https://www.elephantrobotics.com/docs/myCobot/3-development/4-ros&moveit/)
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[](https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/)
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[中文文档](https://www.elephantrobotics.com/docs/myCobot/3-development/4-ros&moveit/) | [English Document](https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/)
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Control or simulate myCobot series robots in ROS.
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**Notes**:
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* Make sure that `Atom` is flashed into the top Atom and `Transponder` or `minirobot` 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)
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* Supported ROS versions:
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* Ubuntu 16.04 / ROS Kinetic
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* Ubuntu 18.04 / ROS Melodic
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* Ubuntu 20.04 / ROS Noetic
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<!-- **If your `Atom` is 2.3 or before, or `pymycobot` is 1.\*, Please check branch [before](https://github.com/elephantrobotics/myCobotRos/tree/before)** -->
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## Installation
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### Option 1: Docker
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There are two ways to run this project. The first is by running the project in a container, and this requires
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[installing docker](https://docs.docker.com/engine/install/ubuntu/) and
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[installing docker-compose](https://docs.docker.com/compose/install/). The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel
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is new enough.
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Once docker is installed, run the following command, and the project should show up.
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without NVIDIA GPU:
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```
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docker-compose build ros && xhost +local:root && docker-compose up ros
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```
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with NVIDIA GPU
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```
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docker-compose build nvidia-ros && xhost +local:root && docker-compose up nvidia-ros
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```
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This command does three things:
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1) `docker-compose build ros`
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This builds the project in a container. That means nothing is installed on your host machine!
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The first time this runs, this command will take a long while. After running it once, caching
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will allow this command to run quickly.
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2) `xhost +local:root`
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This command gives X the ability to display GUI's from within the docker container
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3) `docker-compose up ros`
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This runs the image specified in the `docker-compose.yml`, which by default runs
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the command `roslaunch mycobot_320 mycobot_320_slider.launch` within the container.
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### Option 2: Local
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#### 1.1 Pre-Requriements
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For using this package, the [Python api](https://github.com/elephantrobotics/pymycobot.git) library should be installed first.
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```bash
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pip install pymycobot --user
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```
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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 --depth 1 https://github.com/elephantrobotics/mycobot_ros.git
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$ cd ~/catkin_ws
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$ catkin_make
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$ source ~/catkin_ws/devel/setup.bash
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$ sudo echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
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```
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#### 1.3 Test Python API
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```bash
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cd ~/catkin_ws/src/mycobot_ros
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python test.py
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```
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## Where to get help
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There is documentation in the [ElephantRobotics Docs](https://docs.elephantrobotics.com/docs/gitbook-en/). Please check the ROS chapter.
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## Important Links & Docs
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* [User Guide](https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/)
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## Screenshots
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## Contributors
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Thanks goes to these people ([Emoji Key](https://allcontributors.org/docs/en/emoji-key)):
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<!-- ALL-CONTRIBUTORS-LIST:START - Do not remove or modify this section -->
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<!-- prettier-ignore-start -->
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<!-- markdownlint-disable -->
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<table>
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<tbody>
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<tr>
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<td align="center" valign="top" width="14.28%"><a href="https://www.youtube.com/user/Apockill"><img src="https://avatars.githubusercontent.com/u/1740412?v=4?s=100" width="100px;" alt="Alex Thiele"/><br /><sub><b>Alex Thiele</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=apockill" title="Code">💻</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/nisshan-x"><img src="https://avatars.githubusercontent.com/u/67353276?v=4?s=100" width="100px;" alt="Shinya Nishimoto"/><br /><sub><b>Shinya Nishimoto</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=nisshan-x" title="Code">💻</a> <a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=nisshan-x" title="Documentation">📖</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://www.smilerobotics.com"><img src="https://avatars.githubusercontent.com/u/207142?v=4?s=100" width="100px;" alt="Takashi Ogura"/><br /><sub><b>Takashi Ogura</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=OTL" title="Code">💻</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/toyoshi"><img src="https://avatars.githubusercontent.com/u/188394?v=4?s=100" width="100px;" alt="Ryuichiro Toyoshi"/><br /><sub><b>Ryuichiro Toyoshi</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=toyoshi" title="Documentation">📖</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://ry0.github.io/"><img src="https://avatars.githubusercontent.com/u/8924325?v=4?s=100" width="100px;" alt="Ryo Kabutan"/><br /><sub><b>Ryo Kabutan</b></sub></a><br /><a href="#design-Ry0" title="Design">🎨</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/dieu-detruit"><img src="https://avatars.githubusercontent.com/u/27790373?v=4?s=100" width="100px;" alt="Takafumi Watanabe"/><br /><sub><b>Takafumi Watanabe</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=dieu-detruit" title="Code">💻</a> <a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=dieu-detruit" title="Documentation">📖</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/graziegrazie"><img src="https://avatars.githubusercontent.com/u/11900858?v=4?s=100" width="100px;" alt="Yoshiaki Watanabe"/><br /><sub><b>Yoshiaki Watanabe</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=graziegrazie" title="Code">💻</a></td>
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</tr>
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<tr>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/mertcookimg"><img src="https://avatars.githubusercontent.com/u/58113372?v=4?s=100" width="100px;" alt="Masato Kobayashi"/><br /><sub><b>Masato Kobayashi</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=mertcookimg" title="Code">💻</a></td>
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</tr>
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</tbody>
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</table>
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<!-- markdownlint-restore -->
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<!-- prettier-ignore-end -->
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<!-- ALL-CONTRIBUTORS-LIST:END -->
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This project follows the [all-contributors](https://allcontributors.org/)
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specification. Contributions of any kind are welcome!
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## License
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Licensed under standard three-clause BSD license (same as ROS Core),
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Copyright 2020-2023 Elephant Robotics. [Copy of the license](LICENSE).
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