Aubo_Robot

This repository provides ROS support for the aubo robots.
This repo holds source code for ROS versions JADE.

Operating System Install

Operating system version is not less than Ubuntu linux 14.04, both supports 32bit and 64bit system. Ubuntu Linux download:http://www.ubuntu.com/download/

Peak_Can drive Install

Version peak-linux-driver-8.1,download: http://www.peak-system.com/fileadmin/media/linux/

Installation from Source

First set up a catkin workspace (see this tutorials).
Then clone the repository into the src/ folder. It should look like /path/to/your/catkin_workspace/src/aubo_robot.
Make sure to source the correct setup file according to your workspace hierarchy, then use

``` to compile.

If there is  a linking dependency in aubo_driver with libev library. To solve it it is necessary to install it: 

```sudo apt-get install libev-dev

Usage with control real robot use Peakcan Tool_

1.Make sure have installed Peakcan driver, connect peackcan to aubo robot i5, then run command,optional parameter(-S1,-S2,-S3) can control the joint move speed.

```rosrun aubo_control joint_control_pcan -S1

  
   Note:default joint move speed is S1. 

2.A simple control panel in Rviz,run command line like this:


```roslaunch aubo_description aubo_i5_rviz.launch

Choose PCAN bus interface, and select “Continuous move” mode.

Then we can control 6 joints with press button “+” and “-“.

Usage with control real robot use TCP/IP Server

Firstly,check the Robot Controller’s IP address,for example 192.168.1.34,then ping 192.168.1.34,make sure is connected. run command line like this:

```roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34

   
   there is a sim A simple control panel in Rviz

   Choose TCP/IP bus interface, and select "Move to Goal with AUBO Plan API "mode.
  
   Then we can adjust 6 joints position with press button "+" and "-",and also you can choose classic position. Then, push button "sendGoal".


__MoveIt! with a simulated robot in Gazebo__ 

Again, you can use MoveIt! to control the simulated robot.  
1.To bring up the simulated robot in Gazebo, run:


```roslaunch aubo_gazebo aubo_i5.launch

2.For setting up the MoveIt! nodes to allow motion planning run:

make sure the follow context at aubo_i5_moveit_planning_execution.launch file: “”,

```roslaunch aubo_i5_moveit_config aubo_i5_moveit_planning_execution.launch sim:=true

3.For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:


```roslaunch aubo_i5_moveit_config moveit_rviz.launch config:=true

MoveIt! with a real robot use AUBO-i5

There is a trajectory demo for this part use Peakcan Tool,also can use TCP/IP bus interface. 1.Make sure have installed Peakcan driver, connect peackcan to aubo robot i5, then run command,optional parameter(-S1,-S2,-S3) can control the joint move speed.

```rosrun aubo_control joint_control_pcan -S1

   Note:default joint move speed is S1. 

2.For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run:


```roslaunch aubo_i5_moveit_config demo.launch

3.Start up a trajectory generator,which receive goal and make trajectory,run:

```rosrun aubo_trajectory trajectory_gen

4.Start up trajectory goal,which subscribe trajectory points and publish to joint_control_pcan:


```rosrun aubo_trajectory trajectory_goal

5.A control panel with real robot,run command:

```roslaunch aubo_description aubo_i5_rviz.launch

   there is a sim A simple control panel in Rviz

   Choose PCAN bus interface, and select "Move to Goal with ROS Plan(moveit...)"mode.
  
   Then we can adjust 6 joints position with press button "+" and "-",and also you can choose classic position. Then, push button "sendGoal".


__RealTime Interface with a real robot depend on aubo_new_driver__  

  This new function use FollowJointTrajectoryAction server to control the AUBO-I5.
   
  
```roslaunch aubo_new_driver aubo_i5_bringup.launch robot_ip:=xxx.xxx.xxx.xxx

or

```roslaunch aubo_new_driver aubo_i5_ros_control.launch robot_ip:=xxx.xxx.xxx.xxx

  
  there are two example in aubo_new_driver/test


__MoveIt,use ros control with a real robot depend on aubo_new_driver__  

1.Start up aubo new driver


```roslaunch aubo_new_driver aubo_i5_ros_control.launch robot_ip:=xxx.xxx.xxx.xxx

2.For setting up the MoveIt! nodes to allow motion planning run:

make sure the follow context at aubo_i5_moveit_planning_execution.launch file: “”,

```roslaunch aubo_i5_moveit_config aubo_i5_moveit_planning_execution.launch sim:=true

3.For starting up Rviz with a configuration including the MoveIt! Motion Planning plugin run:


```roslaunch aubo_i5_moveit_config moveit_rviz.launch config:=true

4.Drag the end effector of simulated Robot,then plan and excute.

For more information,please contact the author