RobinCPC / mqtt_monitor

A ROS package for NexCOBOT SRB to send the robot arm information to AWS cloud through mqtt.

mqtt_monitor

A ROS package for NexCOBOT Smart Robot Box (SRB) to send the robot arm information to AWS cloud through mqtt.

Dependence

• NexCOBOT SRB robot_gateway
• AWS IoT Bridge (Cloud extension for ROS)
• mqtt_bridge (note:I made some modified in my fork)

Build

Prebuild

sudo apt-get update
rosdep update

Clone dependent package

# Go to your workspace src
cd ~/caktin_ws/src
# Clone AWS_IoT_Bridge and mqtt_bridge
git clone https://github.com/aws-robotics/aws-iot-bridge-example
git clone https://github.com/RobinCPC/mqtt_bridge
# Clone this repository
git clone https://github.com/RobinCPC/mqtt_monitor

For used in AWS RoboMaker, please clone robomaker branch

# Clone this repository in robomaker branch
git clone https://github.com/RobinCPC/mqtt_monitor -b robomaker

catkin build/make

# Back to workspace and run rosdep, then build
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin build

Run

Start UR robot and NexCOBOT SRB robot_gateway

In terminal, use bash as root (because modbus connection use port 502 which need root permission)

sudo bash
roslaunch robot_gateway SRB.launch

Open new terminal, connect robot gateway with UR robot

rosservice call /TrfConnectInfo "vender: 'UR' ip: '192.168.0.200' port: 1"  # note: the ip will need to find from UR controller

Start mqtt_ur_monitor

roslaunch mqtt_monitor mqtt_ur_monitor.launch

Architecture