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471 lines
22 KiB
Markdown
471 lines
22 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://docs.elephantrobotics.com/docs/gitbook/12-ApplicationBaseROS/)
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[](https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/)
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[中文文档](https://docs.elephantrobotics.com/docs/gitbook/12-ApplicationBaseROS/) | [English Documentation](https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/)
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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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* The urdf model of a single gripper in this article is applicable to all machines that support this accessory.
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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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**ROS Noetic**:
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```
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docker-compose build ros-noetic && xhost +local:root && docker-compose up ros-noetic
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```
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**ROS Melodic**:
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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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**ROS Noetic**:
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```
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docker-compose build nvidia-ros-noetic && xhost +local:root && docker-compose up nvidia-ros-noetic
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```
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**ROS Melodic**:
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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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To run other tutorials, set the LAUNCH_TARGET environment variable. For example, to the run the MoveIt tutorial run:
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```
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export LAUNCH_TARGET=mycobot_320_moveit mycobot320_moveit.launch
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docker-compose up ros
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```
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### Option 2: Local
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#### 2.1 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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#### 2.2 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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#### 2.3 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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## Contributing
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Contributions are always welcome!
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See [CONTRIBUTING.md](CONTRIBUTING.md) for ways to get started.
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Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
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## Screenshots
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## URDF Model Graph
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[mycobot 280 m5](./mycobot_description/urdf/mycobot_280_m5/mycobot_280_m5.urdf)
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[mycobot 280 m5 gripper](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf)
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[mycobot 280 m5 pump](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf)
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[mycobot 280 m5 camera flange](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf)
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[mycobot 280 m5 camera flange & pump](./mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf)
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[mycobot 280 pi](./mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf)
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[mycobot 280 pi pump](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf)
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[mycobot 280 pi camera flange](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf)
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[mycobot 280 pi camera flange & pump](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf)
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[mycobot 280 JetsonNano](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn.urdf)
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[mycobot 280 JetsonNano Adaptive gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf)
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[mycobot 280 JetsonNano Parallel gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf)
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[mycobot 280 Arduino](./mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf)
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[mechArm 270 m5](./mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5.urdf)
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[mechArm 270 pi](./mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi.urdf)
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[myPalletizer 260 m5](./mycobot_description/urdf/mypalletizer_260_m5/mypalletizer_260_m5.urdf)
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[myPalletizer 260 pi](./mycobot_description/urdf/mypalletizer_260_pi/mypalletizer_260_pi.urdf)
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[mycobot 320 m5 2020](./mycobot_description/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020.urdf)
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[mycobot 320 m5 2022](./mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf)
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[mycobot 320 m5 2022 gripper](./mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf)
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[mycobot 320 m5 2022 force control gripper](./mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf)
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[mycobot 320 pi 2022](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf)
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[mycobot 320 pi 2022 gripper](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf)
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[mycobot 320 pi 2022 force control gripper](./mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf)
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[ultraArm P340](./mycobot_description/urdf/ultraArm_p340/ultraArm_p340.urdf)
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[mycobot 280 pi aikit](./mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf)
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[mycobot 320 pi aikit](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf)
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[mybuddy](./mycobot_description/urdf/mybuddy/mybuddy.urdf)
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[mycobot pro 600](./mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf)
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[myArm 300 Pi](./mycobot_description/urdf/myarm_300_pi/myarm_300_pi.urdf)
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[mycobot pro 630](./mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf)
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## Single Gripper URDF Model Graph
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>> **This urdf model is applicable to all machines that support this accessory**
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[mycobot Adaptive gripper](./mycobot_description/urdf/adaptive_gripper/mycobot_adaptive_gripper.urdf)
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[mycobot Parallel gripper](./mycobot_description/urdf/parallel_gripper/mycobot_parallel_gripper.urdf)
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[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf) - old version
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[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/new_gripper/mycobot_pro_adaptive_gripper_new.urdf) (new version - Added more details)
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## MyCobot_280_m5-Gazebo User Guide
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1. Slider Control
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The control of the robot arm model's pose in Gazebo through the sliders of joint_state_publisher_gui has now been achieved. Moreover, the pose of the robot arm model in Gazebo and the real robot arm can be controlled simultaneously via the sliders.
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After confirming that the real robot arm is connected to the computer, check the port to which the robot arm is connected:
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```bash
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ls /dev/tty*
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/dev/ttyACM0 or /dev/ttyUSB0
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```
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The following output results are obtained:
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```bash
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/dev/tty /dev/tty26 /dev/tty44 /dev/tty62 /dev/ttyS20
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/dev/tty0 /dev/tty27 /dev/tty45 /dev/tty63 /dev/ttyS21
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/dev/tty1 /dev/tty28 /dev/tty46 /dev/tty7 /dev/ttyS22
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/dev/tty10 /dev/tty29 /dev/tty47 /dev/tty8 /dev/ttyS23
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/dev/tty11 /dev/tty3 /dev/tty48 /dev/tty9 /dev/ttyS24
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/dev/tty12 /dev/tty30 /dev/tty49 /dev/ttyACM0 (/dev/ttyUSB0)
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/dev/tty13 /dev/tty31 /dev/tty5 /dev/ttyprintk /dev/ttyS26
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/dev/tty14 /dev/tty32 /dev/tty50 /dev/ttyS0 /dev/ttyS27
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/dev/tty15 /dev/tty33 /dev/tty51 /dev/ttyS1 /dev/ttyS28
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/dev/tty16 /dev/tty34 /dev/tty52 /dev/ttyS10 /dev/ttyS29
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/dev/tty17 /dev/tty35 /dev/tty53 /dev/ttyS11 /dev/ttyS3
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/dev/tty18 /dev/tty36 /dev/tty54 /dev/ttyS12 /dev/ttyS30
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/dev/tty19 /dev/tty37 /dev/tty55 /dev/ttyS13 /dev/ttyS31
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/dev/tty2 /dev/tty38 /dev/tty56 /dev/ttyS14 /dev/ttyS4
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/dev/tty20 /dev/tty39 /dev/tty57 /dev/ttyS15 /dev/ttyS5
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/dev/tty21 /dev/tty4 /dev/tty58 /dev/ttyS16 /dev/ttyS6
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/dev/tty22 /dev/tty40 /dev/tty59 /dev/ttyS17 /dev/ttyS7
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/dev/tty23 /dev/tty41 /dev/tty6 /dev/ttyS18 /dev/ttyS8
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/dev/tty24 /dev/tty42 /dev/tty60 /dev/ttyS19 /dev/ttyS9
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/dev/tty25 /dev/tty43 /dev/tty61 /dev/ttyS2
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```
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Open communication and Chmod
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```bash
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sudo chmod -R 777 /dev/ttyACM0 or sudo chmod -r 777 /dev/ttyUSB0
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sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/follow_display_gazebo.py
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sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/slider_control_gazebo.py
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sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/teleop_keyboard_gazebo.py
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roscore
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```
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After confirming the port, open a terminal and enter the following command. Note that you should replace "port" with the value you found in the previous step.
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```bash
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source devel/setup.bash
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roslaunch mycobot_280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200
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```
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Then open another terminal and enter the following command:
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```bash
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source devel/setup.bash
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rosrun mycobot_280m5_gazebo_gripper slider_control_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
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```
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Also remember to modify the port number to the one queried in the previous step. If the operation is successful, you will see the following terminal prompt:
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```bash
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('/dev/ttyACM0', 115200)
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spin ...
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```
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At this point, you can control the poses of both the mechanical arm model in Gazebo or the real mechanical arm simultaneously by manipulating the sliders in the joint_state_publisher_gui.
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2. Gazebo Model Following
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The following command can be used to make the model in Gazebo change its pose in accordance with the movement of the actual robotic arm. First, run the launch file:
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```bash
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source devel/setup.bash
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roslaunch mycobot_280m5_gazebo_gripper follower.launch _port:=/dev/ttyACM0
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```
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If the program runs successfully, the Gazebo interface will successfully load the robotic arm model, and all joints of the robotic arm model will be in the original pose, that is, [0, 0, 0, 0, 0, 0]. After that, we open the second terminal and run:
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```bash
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source devel/setup.bash
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rosrun mycobot_280m5_gazebo_gripper follow_display_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
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```
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Now when we control the pose of the actual robotic arm, we can see that the robotic arm in Gazebo will also move to the same pose together.
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3. Keyboard Control
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We can also use keyboard input to simultaneously control the pose of the robotic arm model in Gazebo and the actual robotic arm. First, open a terminal and enter:
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```bash
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source devel/setup.bash
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roslaunch mycobot_280m5_gazebo_gripper teleop_keyboard.launch _port:=/dev/ttyACM0 _baud:=115200
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```
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As in the previous part, we will see the robotic arm model loaded into Gazebo, and all joints are at their initial poses. Then we open another terminal and enter:
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```bash
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source devel/setup.bash
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rosrun mycobot_280m5_gazebo_gripper teleop_keyboard_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
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```
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If the operation is successful, we will see the following output information in the terminal:
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```shell
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Mycobot_280_m5_gripper Teleop Keyboard Controller
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---------------------------
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Movimg options (control the angle of each joint):
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w: joint2_to_joint1++ s: joint2_to_joint1--
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e: joint3_to_joint2++ d: joint3_to_joint2--
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r: joint4_to_joint3++ f: joint4_to_joint3--
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t: joint5_to_joint4++ g: joint5_to_joint4--
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y: joint6_to_joint5++ h: joint6_to_joint5--
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u: joint6output_to_joint6++ j: joint6output_to_joint6--
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o:open gripper p:close gripper
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Other:
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1 - Go to home pose
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q - Quit
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```
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You can find out which interfaces pymycobot provides in `README.md`.
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> Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document:
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[MyCobot 280 m5 gazebo中文操作](./mycobot_280/mycobot_280m5_gazebo_gripper/READMECN.md)
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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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<td align="center" valign="top" width="14.28%"><a href="https://profile.tiryoh.com"><img src="https://avatars.githubusercontent.com/u/3256629?v=4?s=100" width="100px;" alt="Daisuke Sato"/><br /><sub><b>Daisuke Sato</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=Tiryoh" title="Documentation">📖</a> <a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=Tiryoh" title="Code">💻</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://www.eacousineau.com/"><img src="https://avatars.githubusercontent.com/u/2806276?v=4?s=100" width="100px;" alt="Eric Cousineau"/><br /><sub><b>Eric Cousineau</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=eacousineau" title="Code">💻</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/thandal"><img src="https://avatars.githubusercontent.com/u/2613832?v=4?s=100" width="100px;" alt="thandal"/><br /><sub><b>thandal</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=thandal" title="Code">💻</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://github.com/nakano16180"><img src="https://avatars.githubusercontent.com/u/36945685?v=4?s=100" width="100px;" alt="nakano16180"/><br /><sub><b>nakano16180</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=nakano16180" title="Documentation">📖</a></td>
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<td align="center" valign="top" width="14.28%"><a href="https://twitter.com/comocc"><img src="https://avatars.githubusercontent.com/u/843396?v=4?s=100" width="100px;" alt="Akihiro Komori"/><br /><sub><b>Akihiro Komori</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=comoc" title="Code">💻</a></td>
|
|
<td align="center" valign="top" width="14.28%"><a href="https://github.com/mostlyjason"><img src="https://avatars.githubusercontent.com/u/6370704?v=4?s=100" width="100px;" alt="Jason Skowronski"/><br /><sub><b>Jason Skowronski</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=mostlyjason" title="Code">💻</a></td>
|
|
</tr>
|
|
<tr>
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|
<td align="center" valign="top" width="14.28%"><a href="https://github.com/2929ss"><img src="https://avatars.githubusercontent.com/u/51234222?v=4?s=100" width="100px;" alt="2929ss"/><br /><sub><b>2929ss</b></sub></a><br /><a href="https://github.com/elephantrobotics/mycobot_ros/commits?author=2929ss" title="Code">💻</a></td>
|
|
<td align="center" valign="top" width="14.28%"><a href="https://medium.com/@tks/takasu-profile-c50feee078ac"><img src="https://avatars.githubusercontent.com/u/1667148?v=4?s=100" width="100px;" alt="TAKASU Masakazu"/><br /><sub><b>TAKASU Masakazu</b></sub></a><br /><a href="#promotion-takasumasakazu" title="Promotion">📣</a></td>
|
|
<td align="center" valign="top" width="14.28%"><a href="https://scrapbox.io/saitotetsuya/"><img src="https://avatars.githubusercontent.com/u/114928?v=4?s=100" width="100px;" alt="SAITO, Tetsuya"/><br /><sub><b>SAITO, Tetsuya</b></sub></a><br /><a href="#promotion-3110" title="Promotion">📣</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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