/CR_ROS

Dobot CR3/5/10/16 serial callaborative robot with ROS

Primary LanguageC++

CR5Robot

Chinese version of the README -> please click here

Building

ubuntu16.04

cd $HOME/catkin_ws/src

git clone https://github.com/Dobot-Arm/CR5_ROS.git -b kinetic-devel

cd $HOME/catkin_ws

# building
catkin_make

# activate this workspace
source $HOME/catkin_ws/devel/setup.bash

ubuntu18.04

Use git to clone the source code

cd $HOME/catkin_ws/src
git clone https://github.com/Dobot-Arm/CR5_ROS.git -b melodic-devel
cd $HOME/catkin_ws

building

catkin_make

activate this workspace

source $HOME/catkin_ws/devel/setup.bash

set the dobot type

If you use CR3 robot， please type the fllow commands

echo "export DOBOT_TYPE=cr3" >> ~/.bashrc
source ~/.bashrc

If you use CR5 robot， please type the fllow commands

echo "export DOBOT_TYPE=cr5" >> ~/.bashrc
source ~/.bashrc

If you use CR10 robot， please type the fllow commands

echo "export DOBOT_TYPE=cr10" >> ~/.bashrc
source ~/.bashrc

If you use CR16 robot， please type the fllow commands

echo "export DOBOT_TYPE=cr16" >> ~/.bashrc
source ~/.bashrc

Example Demonstration

Apply in simulation environment

  1. rviz display

    roslaunch dobot_description display.launch

    User can adjust the angle of each joint by joint_state_publisher_gui, and see the result from rviz

    rviz display

  2. moveit control

    • Active moveit by the following commands
    roslaunch dobot_moveit demo.launch
    • Drag the joint to any direction, then click "Plan and Excute" to see the result

    moveit display

  3. Gazebo simulated

    • Start Gazebo with the following command
    roslaunch dobot_gazebo gazebo.launch
    • Again, you can use MoveIt! Control the gazebo robots
    • For setting up the MoveIt! nodes to allow motion planning run.The dobot type needs to correspond
    roslaunch cr5_moveit cr5_moveit_planning_execution.launch  sim:=True
    • For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run.The dobot type needs to correspond
    roslaunch cr5_moveit moveit_rviz.launch config:=True
    • Drag the joint to any direction, then click "Plan and Excute" to see the result

Controlling real robotic arm

  • Connect the robotic arm with following command, and robot_ip is the IP address that the real arm locates

    roslaunch dobot_bringup bringup.launch robot_ip:=192.168.5.1

  • Active Moveit with following command

    roslaunch dobot_moveit moveit.launch

  • Install DobotControl Plugin to enable the robotic arm

    1. Press Panels on the tool bar of rviz --> "Add New Panel"
    2. Choose DobotControl, then press "OK"
    3. Press "EnableRobot" to enable the arm
    4. When "Connected" and "Enable" is displayed on the status bar, it means the robotic arm is connected and enabled, and users can control the robotic arm via Moveit

    DobotControl

Custom Function Development

Msg and srv is defined in dobot_bringup. Users can control the robotic arm via those underlying commands