grassjelly / mycobot

Consolidated ROS packages for myCobot 6DOF manipulator. The driver has been rewritten to support closed-loop operation when using MoveIt. Most of the functions are based on the original driver found here.

1. Installation:

1.1 Install ROS Dependencies

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone https://github.com/grassjelly/mycobot
cd ..
rosdep install --from-paths src --ignore-src -r -y

1.2 Firmware Installation

Download the latest software release here and run the following commands to upload the firmware using esptool:

First install esptool:

pip install esptool

Atom Board Firmware:

cd <latest_release_ino_folder>
esptool.py -b 1500000 --port /dev/ttyUSB0 write_flash --flash_freq 80m 0x0000e000 boot_app0.bin 0x00001000 bootloader_qio_80m.bin 0x00010000 AtomMain2.5.ino.bin 0x00008000 AtomMain2.5.ino.partitions.bin

Base Board Firmware:

cd <latest_release_ino_folder>
esptool.py -b 1500000 --port /dev/ttyUSB0 write_flash --flash_freq 80m 0x0000e000 boot_app0.bin 0x00001000 bootloader_qio_80m.bin 0x00010000 Transponder.ino.bin 0x00008000 Transponder.ino.partitions.bin

Calibration Firmware:

cd <latest_release_ino_folder>
esptool.py -b 1500000 --port /dev/ttyUSB0 write_flash --flash_freq 80m 0x0000e000 boot_app0.bin 0x00001000 bootloader_qio_80m.bin 0x00010000 Calibration.ino.bin 0x00008000 Calibration.ino.partitions.bin

2. Running the driver:

roslaunch mycobot_bring bringup.launch

Available Arguments:

• rviz - Launch the driver together with RViz
• joints_gui - Launch the driver together with a GUI to control the robot's joints

Resources:

Mycobot Python API: https://github.com/elephantrobotics/pymycobot

Servo ID Writer: https://github.com/ZachJiang/SCServo_arduino_lib

Adafruit's Software Servo: https://github.com/adafruit/Adafruit_SoftServo/blob/master/Adafruit_SoftServo.cpp