dirksavage88/mycobot_ros

A ros package for myCobot.

mycobot_ros

中文文档 | English Document

Notes:

• 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
• Supported ROS versions:
  • Ubuntu 16.04 / ROS Kinetic
  • Ubuntu 18.04 / ROS Melodic
  • Ubuntu 20.04 / ROS Noetic

Installation

Option 1: Docker

There are two ways to run this project. The first is by running the project in a container, and this requires installing docker and installing docker-compose. The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel is new enough.

Once docker is installed, run the following command, and the project should show up.

without NVIDIA GPU:

docker-compose build ros && xhost +local:root && docker-compose up ros

with NVIDIA GPU

docker-compose build nvidia-ros && xhost +local:root && docker-compose up nvidia-ros

This command does three things:

1. docker-compose build ros

   This builds the project in a container. That means nothing is installed on your host machine! The first time this runs, this command will take a long while. After running it once, caching will allow this command to run quickly.

2. xhost +local:root

   This command gives X the ability to display GUI's from within the docker container

3. docker-compose up ros

   This runs the image specified in the docker-compose.yml, which by default runs the command roslaunch mycobot_320 mycobot_320_slider.launch within the container.

Option 2: Local

1.1 Pre-Requriements

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

pip install pymycobot --user

1.2 Package Download and Install

Install ros package in your src folder of your Catkin workspace.

$ cd ~/catkin_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ sudo echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

1.3 Test Python API

cd ~/catkin_ws/src/mycobot_ros
python test.py

Screenshot