Notes:
Make sure that
Atom2.1alpha
is flashed into the top Atom andTransponder
is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
ubuntu: 16.04LTS
ros version: 1.12.17
For using this package, the api library should be installed first.(demo comes with)
If you want to use api alone, you can look here https://github.com/elephantrobotics/myCobotROS/blob/main/scripts/pythonAPI/README.md
Install ros package in your src folder of your Catkin workspace.
$ cd ~/catkin_ws/src
$ git clone https://github.com/elephantrobotics/myCobotROS.git
$ cd ~/catkin_ws
$ catkin_make
cd ~/catkin_ws/src/myCobotRos
python3 scripts/test.py
If the myCobot color change to red, it's mean the API is working normally.
display
is a display node. When the node is running, When the node is running, the model of ROS will show the movement of mycobot synchronously.control_slider
is the node which slider bar control.control_marker
is the node which use interactive marker control.
-
joint_states
- control mycobot status.Message_type: std_msgs/JointState Data: position[float, float, float, float, float, float]
-
Visualization -- display.launch: This function will display robot arm movement in realtime when you manually move mycobot.
-
Control -- control.launch: This function will allow you use slider bar to control movement of the robot arm.
-Step 1: In one terminal, open the core.
rocore #open another tab
-Step 2: Launch
a) For display or marker control, in second terminal, run:
roslaunch myCobotROS mycobot.launch
b) For slider bar control, in second terminal, run:
roslaunch myCobotROS control.launch
-Step 3: Open rviz to view robot
rosrun rviz rviz
-Step 4: Run python script
a) For display
rosrun myCobotRos display.py
b) For slider bar.
rosrun myCobotRos control_slider.py
c) For marker control
rosrun myCobots control_marker.py