howardjchen/tm700_demo

a simple test move using TM5_700 robot

#tm700_demo a simple test move using TM5_700 robot

Overview

• installation
• usage
• turorial
  • create a Moveit package for an industrial robot
  • use Moveit API to moveit!

Installation

First check the techman_robot package is installed
Then clone the repository into the src/ folder of the same catkin workspace. It should look like /path/to/your/catkin_workspace/src/tm700_demo.
Make sure to source the correct setup file according to your workspace hierarchy, then use catkin_make to compile.

Usage

1. To bring up moveit environment
   in simulation mode, run:

   roslaunch tm700_demo_moveit_config tm700_demo_moveit_planning_execution.launch
   
   

   with real robot, run:

   roslaunch tm700_demo_moveit_config tm700_demo_moveit_planning_execution.launch sim:=False robot_ip:=192.168.0.10
   

   Warning!

   If you are running real robot, remember that you should always have your hands on the red E-Stop button in case there is something in the way or anything unexpected happens.

2. To run the simple test move, open a new terminal and run:

   rosrun tm700_demo_test tm700_demo_test
   

Tutorial

create a Moveit package for an industrial robot

see create a Moveit package for an industrial robot.
the example urdf:
/path/to/your/catkin_workspace/src/tm700_demo/tm700_demo_test/urdf/tm700_demo.xacro.
It bases on robot model in techman_robot/tm_description/ and adds a floor in the planning context.

use Moveit API to moveit!

see Moveit tutorial.
the example code:
/path/to/your/catkin_workspace/src/tm700_demo/tm700_demo_test/src/tm700_demo_test.cpp.
it is a ros node call Moveit API and moves the robot to predefined positions.