RealMan Robot
- Version V2.0.0
- This repository provides ROS support for RealMan robots. This repository holds source code for
melodic、noetic
.
Installation from Source
For the latest features and developments you might want to install from source.
- First set up a catkin workspace (see this tutorials).
- Then clone the repository into the
src/
folder. It should look like/user_name/catkin_workspace/src/rm_robot
. - In order to compile the package successfully, you need to install some packages related to
MoveIt
package. - Make sure to source the correct setup file according to your workspace hierarchy, then use catkin build to compile.
- You should compile
rm_msgs
first before compiling the source code:
catkin build rm_msgs
source ~/catkin_workspace/devel/setup.bash
catkin build
source ~/catkin_workspace/devel/setup.bash
Contents
- The repository contains packages may be unstable.
- The contents of these packages are subject to change, without prior notice.
- Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.
MoveIt! with a simulated robot
You can use MoveIt! to control the simulated robot like RVIZ ,Gazebo or VREP environment.
Use MoveIt in RVIZ to control the simulated robot in Gazebo:
- CAUTION: Before running, you need to modify rm_<arm_type>moveit_config/launch/rm<arm_type>_moveit_controller_manager.launch.xml and load controllers_gazebo.yaml.
roslaunch rm_gazebo arm_<arm_type>_bringup_moveit.launch
-
Then select
"Interact"
and move the end-effector to a new goal. -
In
"Motion Planning"
->"Plan and Execute"
to send trajectory to the sim robot -
Exit RViz and Ctrl-C the Terminal window
Usage with real robot
+ When you control the RealMan robot, make certain that no one is within the robot workspace and the e-stop is under operator control.
CAUTION:
- Before running, you need to modify rm_<arm_type>moveit_config/launch/rm<arm_type>_moveit_controller_manager.launch.xml and load controllers.yaml.
- Start the RM robot and ensure that the upper computer and the robot are on the same LAN.
Use a new terminal for each command.
- Start the rm_control node, run:
roslaunch rm_control rm_<arm_type>_control.launch
<arm_type> : 65、75、63、eco65
- Start the rm_driver and MoveIt!, run:
roslaunch rm_bringup rm_<arm_type>_robot.launch
<arm_type> : 65、65_6f、75、75_6f、63、63_6f、eco65、eco65_6f
-
Select
"Interact"
in rviz and move the end-effector to a new goal. -
In
"Motion Planning"
->"Plan and Execute"
to send trajectory to the real robot -
More information in rm_doc/doc/睿尔曼机械臂ROS使用说明书V1.7.pdf
CAUTION:
Mistakes made during this verification step can result in dangerous collisions when experiment with using the MoveIt planning environment to command trajectories with the real robot. Be certain that an E-stop is close by whenever commanding robot motion.