/test_tm_driver

test tm_driver without using ROS

Primary LanguageC++Apache License 2.0Apache-2.0

test_tm_driver

tm_driver test without using ROS

Installation

  1. create a folder test_rm_dreiver for this test code
  2. copy the CMakeLists.txt and test_tm_driver.cpp to test_rm_dreiver/
  3. copy the src folder in techman_robot/tm_driver/ to test_rm_dreiver/
  4. copy the tm_driver folder in techman_robot/tm_driver/include/ to test_rm_dreiver/src/
  5. $ cmake . and $ make to build this test code

Usage

To start this test program:

$ ./test_tm_driver 192.168.0.10

During the execution

  • input start to connect to techman robot
  • input halt to disconnect to techman robot
  • input quit to exit the program

If the connection is success

  • input datart to print all robot_state_rt once
  • input show to print robot_state cyclic, type 1, 2, ..., 9, 0 to change data type, type q to leave the loop
  • input clear to clear terminal.
  • input stop to stop immediately. (NOTE: this command need run to restart robot)

Motion Commands

Absolute Joint position

  • The input joint position argument is radius
movjabs j1 j2 j3 j4 j5 j6

Reference Joint position

  • The input joint position argument is radius
  • This command will set joint psition based on last position.
movjrel j1 j2 j3 j4 j5 j6

Absolute TCP Cartesian position

  • The input cartesian position argument is meter
movlabs x y z a b c

TODO: the usage of all robot commands...