myCobotROS

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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

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/myCobotROS.git
$ cd ~/catkin_ws
$ catkin_make

1.3 Test Python API

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
  

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