mycobot_ros/README.md

mycobot_ros

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Notes:

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
ubuntu: 16.04LTS
ros version: 1.12.17

If your Atom is 2.3 or before, or pymycobot is 1.*, Please check branch before

Download ROS http://wiki.ros.org/ROS/Installation

1. Installation

Option 1: Docker

There are two ways to run this project. The first is by running the project in a container, and this requires installing docker and installing docker-compose. The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel is new enough.

Once docker is installed, run the following command, and the project should show up:

docker-compose build ros && xhost +local:root && docker-compose up ros

This command does three things:

1. docker-compose build ros

   This builds the project in a container. That means nothing is installed on your host machine! The first time this runs, this command will take a long while. After running it once, caching will allow this command to run quickly.

2. xhost +local:root

   This command gives X the ability to display GUI's from within the docker container

3. docker-compose up ros

   This runs the image specified in the docker-compose.yml, which by default runs the command roslaunch mycobot_ros control_slider.launch within the container.

Option 2: Local

1.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

1.2 Package Download and Install

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

$ cd ~/catkin_ws/src
$ git clone https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

1.3 Test Python API

cd ~/catkin_ws/src/mycobot_ros
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 mycobot_ros control_slider.launch
  

  • run python script

  rosrun mycobot_ros control_slider.py
  

• The model moves with the real manipulator

  • launch ros and rviz

  roslanuch mycobot_ros mycobot.launch
  

  • run python script

  rosrun mycobot_ros display.py
  

• Open the keyboard controller

  • launch

  roslaunch mycobot_ros mycobot_teleop_keyboard.launch PORT:=/dev/ttyUSB0
  

  • open another terminal run script

  rosrun mycobot_ros teleop_keyboard.py _speed:=60 _change_size:=10
  

  Then you will see this:

  Mycobot Teleop Keyboard Controller
  ---------------------------
  Movimg options(control coord [x,y,z,rx,ry,rz]):
                w(x+)
  
      a(y-)     s(x-)     d(y+)
  
  u(rx+)   i(ry+)   o(rz+)
  j(rx-)   k(ry-)   l(rz-)
  
  Gripper control:
      g - open
      h - close
  
  Other:
      1 - Go to init pose
      2 -
      3 -
      q - Quit
  
  currently:      speed 50        change size 10 
  

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