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crane_x7_ros

ROS Packages for CRANE-X7.

Product page:
https://www.rt-net.jp/products/crane-x7

ROS Wiki:
https://wiki.ros.org/crane_x7

Examples:
crane_x7_examples

System Requirements

These packages have been developed and tested on ROS Melodic & Noetic. Please see below for details.

• ROS Melodic
  • OS: Ubuntu 18.04.3 LTS
  • ROS Distribution: Melodic Morenia 1.14.9
  • Rviz 1.13.14
  • MoveIt 1.0.6
  • Gazebo 9.0.0
• ROS Noetic
  • OS: Ubuntu 20.04.1 LTS
  • ROS Distribution: Noetic Ninjemys 1.15.7
  • Rviz 1.14.1
  • MoveIt 1.1.0
  • Gazebo 11.2.0

Installation

Build from source

• Install ROS environments. Please see ROS Wiki.

• Download the packages for CRANE-X7 using git.

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src
  git clone https://github.com/rt-net/crane_x7_ros.git

• Download crane_x7_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.

  cd ~/catkin_ws/src
  git clone https://github.com/rt-net/crane_x7_description.git

• Install package dependencies.

  cd ~/catkin_ws/src
  rosdep install -r -y --from-paths . --ignore-src

• Build packages using catkin_make.

  cd ~/catkin_ws && catkin_make
  source ~/catkin_ws/devel/setup.bash

Upgrading to v2.x.x from v1.0.0 or earlier

Please see https://github.com/rt-net/crane_x7_ros/issues/154 for details of differences in the versions.

Update the package with the following commands:

# Update crane_x7_ros
cd ~/catkin_ws/src/crane_x7_ros
git pull origin master

# Download crane_x7_description package
cd ~/catkin_ws/src
git clone https://github.com/rt-net/crane_x7_description.git
rosdep install -r -y --from-paths . --ignore-src

# Clean up the workspace and rebuild packages
# Note that other ROS packages in the workspace will also be rebuilt.
cd ~/catkin_ws
rm -r build devel
catkin_make

Setup Serial Connection

The crane_x7_control node communicates with CRANE-X7 via serial port over USB. Logged-in user should have read and write access to /dev/ttyUSB0.

Change permissions on /dev/ttyUSB0 with the following command:

sudo chmod 666 /dev/ttyUSB0

About CRANE-X7 packages

crane_x7_control

This package controls CRANE-X7 using Dynamixel SDK C++ Library which can install by rosdep install command. Read and write permissions on /dev/ttyUSB0 are required for communication between the package and CRANE-X7.

The device name of serial port and parameters of Dynamixel servo motors are listed in config/crane_x7_control.yaml. If this package did not find the serial port, the package switches its control mode to Dummy Joint Mode from Normal Mode and republishes target joint values as servo angle values. This is useful for debugging of motion control without CRANE-X7 hardware.

At startup, this package moves the CRANE-X7 to Home Position in 5 seconds. At shutdown, this package decreases P gains of the servo motors to stop motion safely.

crane_x7_moveit_config

This package includes configuration files for MoveIt.

To launch the MoveIt demonstration with Rviz:

roslaunch crane_x7_moveit_config demo.launch

crane_x7_bringup

This package includes launch files for startup of CRANE-X7.

crane_x7_examples

This package includes example codes for CRANE-X7. Please refer to ./crane_x7_examples/README.md.

crane_x7_gazebo

This package includes Gazebo simulation environments for CRANE-X7.

To simulate CRANE-X7 on the table:

roslaunch crane_x7_gazebo crane_x7_with_table.launch

License

(C) 2018 RT Corporation <support@rt-net.jp>

This repository is licensed under the Apache License, Version 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0.

The crane_x7_ros depends on crane_x7_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.

Contribution Guide

本リポジトリへのコントリビュート方法について記載しています。

Issues

リポジトリの品質向上にご協力頂きありがとうございます。

Issueの作成を簡単にするテンプレートを用意しているので活用してください。

Pull Requests

Pull Requestの作成ありがとうございます。 提出したPull Request（PR）には次のルールが適用されます。

• PRの内容には本リポジトリのライセンス（LICENSEとREADME.mdに記載されています）が適用されます
• PRはrt-netのメンバーによるレビューを経てからマージされます
  • すべてのPRがマージされるわけではなく、希望に添えない場合もありますのでご容赦ください
• リポジトリにテストが設定されている場合はできるだけテストを通してください
  • 何かしらの理由（テストに間違いがある場合など）でテストを通さずPRを出す場合はその旨をPRに記載してください
• マージする際にはPR内の全コミットが1つのコミットにsquashされます
  • プルリクエストのコミットのsquashとマージ | GitHubヘルプ
• 1つのPRでリクエストする変更はできるだけシンプルにしてください
  • 異なる内容の変更を含む場合はPRを分割してください
    • 例えば、複数の機能追加したり、機能追加とリファクタリングを同時にする場合はそれぞれ別々のPRとしてください
  • squashマージしても履歴を辿りやすくするためです