seed_r7_ros_pkg
seed-noid meta package
Continuous Integration Status
| service | Kinetic | Melodic |
|---|---|---|
| Travis |  |
|
How to install
1. From Debian
TBD
2. From Source
In your catkin_ws/src,
sudo apt-get install ros-{distro}-seed-smartactuator-sdk
source /opt/ros/{distro}/setup.bash
git clone https://github.com/seed-solutions/seed_r7_ros_pkg.git
catkin build seed_r7_ros_pkg
source {your-workspace}/devel/setup.bash
How to run
Bring up robot_control(with real robot and Simulation on rviz)
roslaunch seed_r7_bringup seed_r7_bringup.launch
Without real robot (Simulation on rviz)
roslaunch seed_r7_navigation wheel_with_dummy.launch
rosrun rviz rviz
To confirm a single axis movement of manipulator easily
sudo apt-get install ros-{distro}-rqt-joint-trajectory-controller
source /opt/ros/{distro}/setup.bash
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
http://wiki.ros.org/rqt_joint_trajectory_controller
Sample code (you input only this command, so robot_controller and rviz, smach_viewer launched)
roslaunch seed_r7_samples demo.launch
In detail : https://github.com/seed-solutions/seed_r7_ros_pkg/blob/master/seed_r7_samples/README.md
With real robot
Enviroment Setting
- When you connect your PC and robot main controller with USB FTDI,
rosrun seed_r7_bringup make_udev_install.py
You need to set upper-udev-rules and lower-udev-rules.
Make map with navigation
roslaunch seed_r7_navigation wheel_with_making_map.launch
Save map
roslaunch seed_r7_navigation map_saver.launch
※Caution: Don't exit nodes of make_map before launch map_saver.
Map file is saved in
/home/{USER}/ros/{distro}/src/seed_r7_ros_pkg/seed_r7_navigation/config/map.pgm
Use saved map
roslaunch seed_r7_navigation wheel_with_static_map.launch