myCobotROS

Make sure that Atom2.lalpha is flashed into the top Atom and Transponder is flashed into the base Basic .
ubuntu: 16.04LTS
ros version: 1.12.17

1. Installation

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

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

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

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.
control_slider is the node which slider bar control.
control_marker is the node which use interactive marker control.

joint_states - control mycobot status.

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

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.

-Step 1: In one terminal, open the core.

rocore #open another tab

-Step 2: Launch

a) For display or marker control, in second terminal, run:

roslaunch myCobotROS display.launch

b) For slider bar control, in second terminal, run:

roslaunch myCobotROS control.launch

-Step 3: Open rviz to view robot

rosrun rviz rviz

-Step 4: Run python script

a) For display

rosrun myCobotRos display.py

b) For slider bar.

rosrun myCobotRos control_slider.py

c) For marker control

rosrun myCobots control_marker.py