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Repository Summary
| Checkout URI | https://github.com/doosan-robotics/doosan-robot.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2020-06-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Package Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| common | 1.1.0 |
| doosan_robot | 1.1.0 |
| doosan_robotics | 1.1.0 |
| dsr_control | 1.1.0 |
| dsr_description | 1.1.0 |
| dsr_example_py | 1.1.0 |
| dsr_gazebo | 1.1.0 |
| dsr_launcher | 1.1.0 |
| dsr_msgs | 1.1.0 |
| moveit_config_a0509 | 1.1.0 |
| moveit_config_a0912 | 1.1.0 |
| moveit_config_m0609 | 1.1.0 |
| moveit_config_m0617 | 1.1.0 |
| moveit_config_m1013 | 1.1.0 |
| moveit_config_m1509 | 1.1.0 |
README
Doosan Robotics
overview
build
Doosan Robot ROS Package is implemented at ROS-melodic.
### We recoomand the /home/<user_home>/catkin_ws/src
cd ~/catkin_ws/src
git clone -b melodic-devel --single-branch https://github.com/doosan-robotics/doosan-robot
rosdep install --from-paths doosan-robot --ignore-src --rosdistro melodic -r -y
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash
package list
sudo apt-get install ros-melodic-rqt* ros-melodic-moveit* ros-melodic-industrial-core ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-position-controllers ros-melodic-ros-controllers ros-melodic-ros-control ros-melodic-serial ros-melodic-joint-state-publisher-gui
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
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 = 192.168.127.100
port := ROBOT_PORT default = 12345
mode := OPERATION MODEdefalut = virtual
model := ROBOT_MODELdefalut = m1013
color := ROBOT_COLORdefalut = white
gripper := USE_GRIPPERdefalut = none
mobile := USE_MOBILEdefalut = 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
roslaunch dsr_control dsr_moveit.launch model:=a0509 mode:=virtual
How to use MoveIt Commander
You can run Moveit with CLI commands through the moveit commander package.
You can install the "moveit_commander" package using below command.
sudo apt-get install ros-melodic-moveit-commander
MoveitCommander usage example
roslaunch dsr_control dsr_moveit.launch model:=m1013
In another terminal
ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description
moveit commander CLI is executed.
> use arm
> goal0 = [0 0 0 0 0 0] # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0] # save the target position to varialbe "goal1" / radian
> go goal1 # plan & excute (the robot is going to move target position)
> go goal0 # paln & excute (the robot is going to move home position)
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 MODEdefalut = virtual
model:= ROBOT_MODELdefalut = m1013
color:= ROBOT_COLORdefalut = white
gripper:= USE_GRIPPERdefalut = none
mobile:= USE_MOBILEdefalut = 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'
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
CONTRIBUTING
No CONTRIBUTING.md found.
Repository Summary
| Checkout URI | https://github.com/doosan-robotics/doosan-robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2020-06-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Package Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| common | 1.1.0 |
| doosan_robot | 1.1.0 |
| doosan_robotics | 1.1.0 |
| dsr_control | 1.1.0 |
| dsr_description | 1.1.0 |
| dsr_example_py | 1.1.0 |
| dsr_gazebo | 1.1.0 |
| dsr_launcher | 1.1.0 |
| dsr_msgs | 1.1.0 |
| moveit_config_a0509 | 1.1.0 |
| moveit_config_a0912 | 1.1.0 |
| moveit_config_m0609 | 1.1.0 |
| moveit_config_m0617 | 1.1.0 |
| moveit_config_m1013 | 1.1.0 |
| moveit_config_m1509 | 1.1.0 |
README
Doosan Robotics
overview
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
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 = 192.168.127.100
port := ROBOT_PORT default = 12345
mode := OPERATION MODEdefalut = virtual
model := ROBOT_MODELdefalut = m1013
color := ROBOT_COLORdefalut = white
gripper := USE_GRIPPERdefalut = none
mobile := USE_MOBILEdefalut = 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
roslaunch dsr_control dsr_moveit.launch model:=a0509 mode:=virtual
How to use MoveIt Commander
You can run Moveit with CLI commands through the moveit commander package.
You can install the "moveit_commander" package using below command.
sudo apt-get install ros-kinetic-moveit-commander
MoveitCommander usage example
roslaunch dsr_control dsr_moveit.launch model:=m1013
In another terminal
ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description
moveit commander CLI is executed.
> use arm
> goal0 = [0 0 0 0 0 0] # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0] # save the target position to varialbe "goal1" / radian
> go goal1 # plan & excute (the robot is going to move target position)
> go goal0 # paln & excute (the robot is going to move home position)
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 MODEdefalut = virtual
model:= ROBOT_MODELdefalut = m1013
color:= ROBOT_COLORdefalut = white
gripper:= USE_GRIPPERdefalut = none
mobile:= USE_MOBILEdefalut = 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
demo
Doosan-Robots In Gazebo
Doosan-Robots & Mobile in Rviz
CONTRIBUTING
No CONTRIBUTING.md found.
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