To be used with the Armer Driver
This package launches the Mico drivers for use with the Armer Driver.
It interfaces with the Mico drivers so they must be installed and built as well.
- Clone the driver to the Armer workspace
cd ~/armer_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git kinova-ros
cd kinova-ros
rm -r kinova_moveit
rm -r kinova_gazebo
- Setup arm permissions
To access the arm via usb copy the udev rule file 10-kinova-arm.rules from ~/catkin_ws/src/kinova-ros/kinova_driver/udev to /etc/udev/rules.d/:
sudo cp kinova_driver/udev/10-kinova-arm.rules /etc/udev/rules.d/
- Install dependencies and build workspace
sudo apt update
rosdep update
cd ~/armer_ws
rosdep install --from-paths src --ignore-src -y
catkin_make
echo "Completed dependency install"
The following code snippet will download the Armer Mico hardware package to workspace ~/armer_ws. It will then install dependencies and rebuild the workspace.
cd ~/armer_ws
git clone https://github.com/qcr/armer_mico.git src/armer_mico
rosdep install --from-paths src --ignore-src -r -y
catkin_make
roslaunch armer_mico robot_bringup.launch By default this will launch to control a physical Mico. To run a Swift simulation the sim parameter can be set to true. For example:
roslaunch armer_mico robot_bringup.launch sim:=trueTo run on a real robot:
roslaunch armer_mico robot_bringup.launch config:=path_to_/armer_mico/cfg/mico_real.yaml