- Project name: jaka_controller_tcp_ros
- This repo is a cmake project for the basic motor functions of JAKA robot.
- Communication protocol is:
TCP/IP
. - APP/Robot-Firmware/servo-Firmware version:
1.4.11.17/1.4.11_21RC/R-1.10_2.126
- jsoncpp:
sudo apt-get install libjsoncpp-dev
This should install json related header files in /usr/include/jsoncpp
as we use in the CMakeLists.txt
.
- universal_msgs:
git submodule init
git submodule update
And move universal_msgs
package from jaka_controller_tcp_ros/dependency/
to ${base_path_to_your_catkin_workspace}/src/
.
- ros-kinetic-universal-robot package:
sudo apt install ros-kinetic-universal-robot
Change robot_IP
in jaka_ros_node.cpp
or set robot_IP
dynamically using argv[1]
build:
cd ${base_path_to_your_catkin_workspace}
catkin_make
run:
open one terminal and run:
roscore
open another terminal and run:
rosrun jaka_controller_tcp_ros jaka_ros_node
or set robot_IP
dynamically using argv[1]:
rosrun jaka_controller_tcp_ros jaka_ros_node 192.168.x.x