ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
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Repository Summary
| Checkout URI | https://github.com/doosan-robotics/doosan-robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-02-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| common | 1.3.0 |
| doosan_robot | 1.3.0 |
| doosan_robotics | 1.3.0 |
| dsr_control | 1.3.0 |
| dsr_description | 1.3.0 |
| dsr_example_py | 1.3.0 |
| dsr_gazebo | 1.3.0 |
| dsr_launcher | 1.3.0 |
| dsr_msgs | 1.3.0 |
| moveit_config_a0509 | 1.3.0 |
| moveit_config_a0912 | 1.3.0 |
| moveit_config_h2017 | 1.3.0 |
| moveit_config_h2515 | 1.3.0 |
| moveit_config_m0609 | 1.3.0 |
| moveit_config_m0617 | 1.3.0 |
| moveit_config_m1013 | 1.3.0 |
| moveit_config_m1509 | 1.3.0 |
README
Doosan Robotics
overview
Doosan ROS Video
Doosan ROS Online Lecture(Kor)
Doosan ROS Online Lecture(Eng)
build
Doosan Robot ROS Package is implemented at ROS-Kinetic.
### We recoomand the /home/<user_home>/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/doosan-robotics/doosan-robot
rosdep install --from-paths doosan-robot --ignore-src --rosdistro kinetic -r -y
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash
package list
sudo apt-get install ros-kinetic-rqt* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-ros-controllers ros-kinetic-ros-control ros-kinetic-serial
packages for mobile robot
sudo apt-get install ros-kinetic-lms1xx ros-kinetic-interactive-marker-twist-server ros-kinetic-twist-mux ros-kinetic-imu-tools ros-kinetic-controller-manager ros-kinetic-robot-localization
usage
Operation Mode
Virtual Mode
If you are driveing without a real robot, use virtual mode
When ROS launches in virtual mode, the emulator(DRCF) runs automatically.
(DRCF) location: doosan-robot/common/bin/ DRCF
roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual
One emulator is required for each robot
Real Mode
Use real mode to drive a real robot
The default IP of the robot controller is 192.168.127.100 and the port is 12345.
roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.127.100 port:=12345
dsr_description
roslaunch dsr_description m0609.launch
roslaunch dsr_description m1013.launch color:=blue # Change Color
roslaunch dsr_description m1509.launch gripper:=robotiq_2f # insert robotiq gripper
roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f # change color & insert robotiq gripper
roslaunch dsr_description a0509.launch
$ roslaunch dsr_description m1013.launch
- In dsr_description, the user can use joint_state_publisher to move the robot.
- joint_state_publisher
$ roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f
dsr_moveit_config
arguments
color:= ROBOT_COLOR <white / blue> defalut = white
roslaunch moveit_config_m0609 m0609.launch
roslaunch moveit_config_m0617 m0617.launch
roslaunch moveit_config_m1013 m1013.launch color:=blue
roslaunch moveit_config_m1509 m1509.launch
roslaunch moveit_config_a0509 a0509.launch
dsr_control (default model:= m1013, default mode:= virtual)
arguments
host := ROBOT_IP defalut = 127.0.0.1 port := ROBOT_PORT default = 12345
mode := OPERATION MODE <virtual / real> defalut = virtual
model := ROBOT_MODEL <m0609 / 0617 / m1013 / m1509 / a0509 / a0912 / h2017 / h2515> defalut = m1013
color := ROBOT_COLOR <white / blue> defalut = white
gripper := USE_GRIPPER <none / robotiq_2f> defalut = none
mobile := USE_MOBILE <none / husky> defalut = none
dsr_moveit
roslaunch dsr_launcher dsr_moveit.launch
roslaunch dsr_launcher dsr_moveit.launch model:=m0609 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m0617 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1013 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1509 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=a0509 mode:=virtual
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CONTRIBUTING
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.