crane_x7_examples

This package includes examples to control CRANE-X7 using crane_x7_ros.

How to launch CRANE-X7 base packages

1. Connect a communication cable from CRANE-X7 to a PC.
2. Open terminal and launch demo.launch of crane_x7_bringup package.

This launch file has an argument to select CRANE-X7 or virtual CRANE-X7:

• fake_execution (default: true)

Using virtual CRANE-X7

Launch virtual CRANE-X7 base packages with the following command:

roslaunch crane_x7_bringup demo.launch fake_execution:=true

Using real CRANE-X7

Launch the base packages with the following command:

roslaunch crane_x7_bringup demo.launch fake_execution:=false

Default serial port name is /dev/ttyUSB0. To change port name (e.g. /dev/ttyUSB1), launch the packages with arguments:

roslaunch crane_x7_bringup demo.launch fake_execution:=false port:=/dev/ttyUSB1

Using Gazebo simulator

Launch the packages with the following command:

roslaunch crane_x7_gazebo crane_x7_with_table.launch

Run Examples

Following examples will be executable after launch CRANE-X7 base packages.

• gripper_action_example
• pose_groupstate_example
• joint_values_example
• cartesian_path_example
• crane_x7_pick_and_place_demo
• preset_pid_gain_example
• teaching_example
• joystick_example
• obstacle_avoidance_example
• servo_info_example
• pick_and_place_in_gazebo_example

gripper_action_example

This is an example to open/close the gripper.

Run a node with the following command:

rosrun crane_x7_examples gripper_action_example.py

<img src=https://rt-net.github.io/images/crane-x7/gazebo_gripper_example.gif width=500px />

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pose_groupstate_example

This is an example using group_state of SRDF.

CRANE-X7 changes its posture to home and vertical listed in SRDF file crane_x7_moveit_config/config/crane_x7.srdf.

Run a node with the following command:

rosrun crane_x7_examples pose_groupstate_example.py

<img src=https://rt-net.github.io/images/crane-x7/gazebo_pose_groupstate.gif width=500px />

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