tku-iarc / Hiwin_libmodbus

Modbus Library for Hiwin Robot

This Modbus Library include libmodbus and ROS2 package, which let controlling Hiwin Robot more easier for beginner, also can exten function with ROS2.

Acknowledgment

The submodule package is from libmodus.

Requirements

This package requires a system setup with ROS2. It is recommended to use Ubuntu 22.04 with ROS2 Humble.

To make sure that program isn't affected by python version, it is highly recommended to use a docker, we have build a environment that all Requirement for this package is build, See the ubuntu-docker on information how to set this up.

Getting start

Building

# go to your workspace/src
cd ~<your_workspace>/src
# clone this repository with libmodus
git clone --recurse-submodules https://github.com/tku-iarc/Hiwin_libmodbus.git

git clone https://github.com/errrr0501/ros2_aruco.git

git clone https://github.com/IntelRealSense/realsense-ros.git

sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace
cd ~<your_workspace>
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# activate the workspace (ie: source it)
source install/setup.bash

Run Test Script

Note:In order to connect to real Hiwin Robot, please change your Network setting after plugin LAN. Select Wired->setting->IPv4, choose Manual change Netmasks to 255.255.255.0, change Address to 192.168.0.x, except 192.168.0.1, which is default robot ip address.

# connect to Hiwin Robot
ros2 run hiwin_libmodbus hiwinlibmodbus_server

# run example strategy
python3 src/Hiwin_libmodbus/hiwin_example/hiwin_example/strategy_example.py