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

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