myCobotROS

Notes:

Make sure that Atom2.1alpha 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

Download ROS http://wiki.ros.org/ROS/Installation

1. Installation

1.1 Pre-Requriements

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

If you want to use api alone, you can look here https://github.com/elephantrobotics/myCobotROS/blob/main/scripts/pythonAPI/README.md

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
python3 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

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

roscore #open another tab

-Step 2: Launch

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

roslaunch myCobotROS mycobot.launch

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

roslaunch myCobotROS control.launch

-Step 3: Open rviz to view robot

rosrun rviz rviz

If you use the above command, then you may need to manually add some model components. If you don't want to be so troublesome, you can use the following command to load a saved myCobot model.

rosrun rviz rviz -d rospack find myCobotROS/config/mycobot.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 myCobotROS control_marker.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

OTL/myCobotROS