SwiftAndProForROS

This is the swift and swiftpro ROS package designed by Roger Cui(roger@ufactory.cc) and David Long (xiaokun.long@ufactory.cc). These packages support Moveit!, RViz and serial communication with swift and swiftpro.

1. Download and install

Download ros packages for uarm swift pro

$ cd ~/catkin_ws/src
$ git clone https://github.com/uArm-Developer/RosForSwiftAndSwiftPro.git

then manually copy package folders swiftpro swift_moveit_config and pro_moveit_config into a catkin_ws/src.

Install ros serial package

$ sudo apt-get install ros-kinetic-serial

Compile

$ catkin_make

2. Set up enviroment

Source all setup.bash files to set up your enviroment.

# System configure ROS environment variables automatically every time you open a ternimal
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

3. Simulation

Connect your swift/swiftpro to computer and get USB permission to access uArm

$ sudo chmod 666 /dev/ttyACM0

3.1 Display mode: Get data from swiftpro

Get data from serial and simulate swiftpro in RViz.

roslaunch swiftpro pro_display.launch

right now, you can drag your swiftpro and it will simulate in Rviz.

3.2 Control Mode: Send data to swiftpro

Connect swiftpro, send data though serial.

roslaunch swiftpro pro_control.launch

Open another ternimal to get joint angles from Moveit!.

roslaunch pro_moveit_config demo.launch

right now, you can do trajectory planning or grasping in moveIt!.

3.3 Display mode: Get data from swift

Get data from serial and simulate swift in RViz.

roslaunch swiftpro swift_display.launch

right now, you can drag your swift and it will simulate in Rviz.

3.4 Control Mode: Send data to swift

Connect swift, send data though serial.

roslaunch swiftpro swift_control.launch

Open another ternimal to get joint angles from Moveit!.

roslaunch swift_moveit_config demo.launch

right now, you can do trajectory planning or grasping in moveIt!.

3.5 About nodes and topics

3.6 About message

SwiftproState.msg: includes all data about swiftpro

float64 motor_angle1
float64 motor_angle2
float64 motor_angle3
float64 motor_angle4
float64 x
float64 y
float64 z
uint8   pump
uint8   swiftpro_status
uint8   gripper

position.msg: includes x, y, z information(mm)

float64 x
float64 y
float64 z

angle4th.msg: 4th motor angle(degree)

float64 angle4th

status.msg: work if 1; otherwise 0

uint8 status