PROBOT G602

This repository provides ROS support for PROBOT G602.
This repo holds source code for ROS versions Kinetic and Melodic.

Operating System Install

Operating system version is not less than Ubuntu linux 14.04, both supports 32bit and 64bit system. Ubuntu Linux download:http://www.ubuntu.com/download/

Please install git and clone repo before the following steps:

$ sudo apt-get install git
$ git clone https://github.com/ps-micro/PROBOT_G602

Setup Environment

Choose one of the following ways to install.

Install With Script(Recommended)

Run PROBOT install.sh

PROBOT Setup Assistant[v1.0.0]
---- www.ps-micro.com ----

  0. Install ROS
  1. Install PROBOT dependent packages
  2. Install PROBOT packages
-------------------
  3. Install all environment
    
[Warn] The system version: Ubuntu 16.04.5 LTS
[Warn] The ROS version: kinetic

please choose [0~3]：

Choose '3' to install all environment(include 0，1,2).
Besides, you can choose 0~2 to install the separate step with own wishes.
If setup fails, please try again.

Install With Commands

Install ROS Desktop-Full with this tutorials
Install Dependant Packages:

    $ ROS_VERSION=`/usr/bin/rosversion -d`   
    $ sudo apt-get install ros-${ROS_VERSION}-moveit-*   
    $ sudo apt-get install ros-${ROS_VERSION}-industrial-*   
    $ sudo apt-get install ros-${ROS_VERSION}-gazebo-ros-control   
    $ sudo apt-get install ros-${ROS_VERSION}-ros-control ros-${ROS_VERSION}-ros-controllers   
    $ sudo apt-get install ros-${ROS_VERSION}-trac-ik-kinematics-plugin   
    $ sudo apt-get install ros-${ROS_VERSION}-usb-cam

Install PROBOT Packages:

Set up a catkin workspace (see this tutorials).
Clone the repository into the src/ folder of workspace
Use "catkin_make" to build workspace
Copy probot_rviz_plugin/plugin/libprobot_rviz_plugin.so to 'WORKSPACE_PATH'/devel/lib
Set up environment variables:

$ echo "source ~/'WORKSPACE_PATH'/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Install Librarys

Install OpenCV

MoveIt! with a simulated robot

You can use MoveIt! to control the simulated robot.

For setting up the MoveIt! to allow motion planning run:

$ roslaunch probot_bringup probot_g602_bringup.launch sim:=true

MoveIt! with Gazebo Simulation

There are launch files available to bringup a simulated robot.

To bring up the simulated robot in Gazebo and moveit, run:

$ roslaunch probot_g602_moveit_config demo_gazebo.launch

MoveIt! with real Hardware

There are launch files available to bringup a real robot(PROBOT G602).

Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the real robot, then run:

$ roslaunch probot_bringup probot_g602_bringup.launch robot_ip:=192.168.2.123

You can use MoveIt! plugin to control the robot.

Additionally, a simple test script that moves the robot to predefined positions can be executed like this:

$ rosrun probot_demo probot_demo.py