/aubo_robot

Developed for aubo robot (http://www.aubo-robotics.cn/)

Primary LanguageC++

AUBO Robot

Maintainer: zhaoyu@aubo-robotics.cn

  • Aubo_robot ROS meta-package for ROS-Industrial. See the ROS wiki page for more information.

  • This repository provides ROS support for AUBO robots. This repository holds source code for kinetic. The corresponding robot controller software version is V4. For those software version < V4, can refer to here.

Installation from Source

For the latest features and developments you might want to install from source.

  1. First set up a catkin workspace (see this tutorials).

  2. Then clone the repository into the src/ folder. It should look like /user_name/catkin_workspace/src/aubo_robot.

  3. In order to compile the package successfully, you need to install some packages related to MoveIt and industrial_corepackage.

  4. Make sure to source the correct setup file according to your workspace hierarchy, then use catkin_make to compile.

  5. update Moveit_core_lib : enter the direction /user_name/catkin_workspace/src/aubo_robot/UpdateMoveitLib/Kinetic/,Add permissions to the Update.sh filechmod +x Update.sh , Execution script file sudo ./Update.sh

    The recommended gcc version is 4.8 for Ubuntu 14.04; And for Ubuntu 16.04, the gcc version is 5.4.

Contents

  • The repository contains packages may be unstable, and they will be migrated to the ROS-I repository after sufficient testing.
  • The contents of these packages are subject to change, without prior notice.
  • Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.

MoveIt! with a simulated robot

You can use MoveIt! to control the simulated robot like RVIZ ,Gazebo or VREP environment. If you want to simulate the robot in RVIZ:

  • First set up the MoveIt nodes to allow motion planning and run:

rviz

        1.roslaunch <robot_name>_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1

gazebo

        2.roslaunch aubo_gazebo aubo_<robot_name>_gazebo_control.launch

you should install some package when you use aubo model in gazebo here

  • Then select "Interact" and move the end-effector to a new goal.

  • In "Motion Planning" -> "Plan and Execute" to send trajectory to the sim robot

  • Exit RViz and Ctrl-C the demo.launch window

Usage with real robot

+  When operating an AUBO robot under ROS-Industrial control, make certain that no one is within the robot workspace and the e-stop is under operator control.

  • Source the correct setup shell files and use a new terminal for each command.

  • To bring up the real robot, run:

roslaunch <robot_name>_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<192.168.***.***>

  • Move the robot around manually using a teach-pendant. Make sure the robot is controlled by robot-controller, see here.

  • Verify that the joint positions in RVIZ match the physical robot configuration.

  • Then switch to the ros-controller and control the robot through MoveIt.

  • Repeat for every joint and pose.

CAUTION:
Mistakes made during this verification step can result in dangerous collisions when experiment with using the MoveIt planning environment to command trajectories with the real robot. Be certain that an E-stop is close by whenever commanding robot motion.