natthaphop-phat / jaka_controller_tcp_ros

jaka robot controller based on tcp protocol. this is a ros package.

This ROS package is for the basic motor functions of JAKA robot.

Abstract

• 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

Dependency

1. 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.

2. 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/.

3. ros-kinetic-universal-robot package:

sudo apt install ros-kinetic-universal-robot

Build and Test

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