No version for distro dashing. 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 bouncy. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/doosan-robotics/doosan-robot.git
VCS Type	git
VCS Version	master
Last Updated	2019-10-01
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
common	0.9.9
doosan_robot	0.9.9
doosan_robotics	0.9.9
dsr_control	0.9.9
dsr_description	0.9.9
dsr_example_py	0.9.9
dsr_gazebo	0.9.9
dsr_launcher	0.9.9
dsr_msgs	0.9.9
moveit_config_m0609	0.9.9
moveit_config_m0617	0.9.9
moveit_config_m1013	0.9.9
moveit_config_m1509	0.9.9

README

Doosan robotics

build

### 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 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

DRCF Emulator

If you don`t have real doosan controller, you must excute our emulator. Emulator has local IP(127.0.0.1) default port=12345.

cd ~/catkin_ws/src/doosan-robot/common/bin/DRCF
./DRCF64 <port>   ## 64bits OS
or 
./DRCF32 <port>   ## 32bits OS

$ ./DRCF64 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 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 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

dsr_control (default model:= m1013, default mode:= virtual)

arguments

host := ROBOT_IP defalut = 192.168.127.100
port := ROBOT_PORT default = 12345
mode := OPERATION MODE defalut = virtual
model := ROBOT_MODEL defalut = m1013
color := ROBOT_COLOR defalut = white
gripper := USE_GRIPPER defalut = none
mobile := USE_MOBILE defalut = none

dsr_control + dsr_moveit_config

roslaunch dsr_control dsr_moveit.launch
roslaunch dsr_control dsr_moveit.launch model:=m0609 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m0617 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m1013 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m1509 mode:=virtual

dsr_launcher

If you don`t have real doosan controller, you must execute emulator before run dsr_launcer.

arguments

host:= ROBOT_IP defalut = 192.168.127.100 ##Emulator IP = 127.0.0.1
port:= ROBOT_PORT default = 12345
mode:= OPERATION MODE defalut = virtual
model:= ROBOT_MODEL defalut = m1013
color:= ROBOT_COLOR defalut = white
gripper:= USE_GRIPPER defalut = none
mobile:= USE_MOBILE defalut = none

roslaunch dsr_launcher single_robot_rviz.launch host:=127.0.0.1 port:=12345 mode:=virtual model:=m1013 color:=blue gripper:=none mobile:=none
roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.127.100
roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky
roslaunch dsr_launcher multi_robot_rviz.launch
roslaunch dsr_launcher multi_robot_gazebo.launch model:=m0609
roslaunch dsr_launcher multi_robot_rviz_gazebo.launch

dsr_example

single robot

<launch>
  - single robot in rviz : 
  roslaunch dsr_launcher single_robot_rviz.launch model:=m1013 color:=white
  - single robot in gazebo : 
  roslaunch dsr_launcher single_robot_gazebo.launch model:=m1013 color:=blue
  - single robot in rviz + gazebo : 
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
<run application node>
  rosrun dsr_example_py single_robot_simple.py dsr01 m1013
<ex>
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
  rosrun dsr_example_py single_robot_simple.py

$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch

$ rosrun dsr_example_py single_robot_simple.py

multi robot

<launch>
  - multi robot in rviz : 
  roslaunch dsr_launcher multi_robot_rviz.launch
  - multi robot in gazebo : 
  roslaunch dsr_launcher multi_robot_gazebo.launch
  - multi robot in rviz + gazebo : 
  roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
<run application node>
  rosrun dsr_example_py multi_robot_simple.py
<ex>
    roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
    rosrun dsr_example_py multi_robot.py

$ roslaunch dsr_launcher multi_robot_rviz_gazebo.launch

$ rosrun dsr_example_py multi_robot.py

robot + gripper

insert argument gripper:=robotiq_2f
- single robot + gripper

roslaunch dsr_launcher single_robot_rviz.launch gripper:=robotiq_2f

<run application node>
  rosrun dsr_example_py pick_and_place.py

Serial Test(Loopback)

rosrun serial_example_node serial_example_node ttyUSB0 115200
rostopic echo /serial_read
rostopic pub /serial_write std_msgs/String 'data: 100'

robot + mobile

insert argument mobile:=husky - single robot on mobile

roslaunch dsr_launcher single_robot_rviz.launch mobile:=husky

<run application node>
  rosrun dsr_example_py single_robot_mobile.py

$ roslaunch dsr_launcher single_robot_rviz mobile:=husky color:=blue

multi robot on mobile

roslaunch dsr_launcher multi_robot_rviz.launch mobile:=husky

<run application node>
  rosrun dsr_example_py multi_robot_mobile.py

$ roslaunch dsr_launcher multi_robot_rviz mobile:=husky

gazebo+rviz+virtual

roslaunch dsr_launcher single_robot_rviz_gazebo.launch
rosrun dsr_example_py single_robot_simple.py

  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr01"/> # Robot ID
    <arg name="model" value="m1013"/> # Robot Model
    <arg name="host" value="192.168.127.100"/> # Robot IP
    <arg name="port" value="12345"/> # Robot Port
    <arg name="mode" value="virtual"/> # Robot Controller Mode 
    # Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>
  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr02"/> # Secondary Robot ID
    <arg name="model" value="m1013"/> # Secondary Robot Model
    <arg name="host" value="192.168.127.102"/> # Secondary Robot IP
    <arg name="port" value="12346"/> # Robot Port
    <arg name="mode" value="virtual"/> # Secondary Robot Controller Mode
    # Secondary Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>

Run multi-robot by command line

roslaunch dsr_launcher test.launch
rostopic pub /dsr01m1013/joint_position_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 0
    stride: 0
    data_offset: 0
data: [10, 10, 40, 10, 60, 10]"

Service Call

rosservice call /dsr/set_joint_move "jointAngle: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
jointVelocity: [50.0, 0.0, 0.0, 0.0, 0.0, 0.0]
jointAcceleration: [50.0, 0.0, 0.0, 0.0, 0.0, 0.0]
radius: 0.0"

manuals

Manual(kor)

Manual(Eng)

demo

Please contact ros.robotics@doosan.com for demo usage instructions below.

Doosan-Robots In Gazebo

Doosan-Robots & Mobile in Rviz

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

No version for distro indigo. Known supported distros are highlighted in the buttons above.

No version for distro hydro. Known supported distros are highlighted in the buttons above.

doosan_robot repository

Repository Summary

Packages

README

Doosan robotics

build

package list

usage

DRCF Emulator

dsr_description

dsr_moveit_config

arguments

dsr_control (default model:= m1013, default mode:= virtual)

arguments

dsr_control + dsr_moveit_config

dsr_launcher

arguments

dsr_example

single robot

multi robot

robot + gripper

robot + mobile

gazebo+rviz+virtual

Run multi-robot by command line

Service Call

manuals

demo

Doosan-Robots In Gazebo

Doosan-Robots & Mobile in Rviz