中文

Elite CS Robot Ros2 Driver

This driver is developed on top of Elite_Robots_CS_SDK and support some key cobot functionalities like: motion, set digital io. In addition the ExternalControl EliCOs makes it possible to include ROS2 behaviors in the robot program.

Requirements

• Elite_Robots_CS_SDK
• ROS2 - humble
• Ubuntu22.04

Packages in the Repository

• elite_robots_msgs - some common service or message interface.
• elite_robots_dashboard_msgs - package defining messages used by dashboard node.
• elite_robots_controllers - implementations of controllers specific for Elite CS robots.
• elite_robots_calibration - tool for extracting calibration information from a real robot.
• elite_robots_driver - driver / hardware interface for communication with Elite CS robots, including dashboard_client and primary_client service nodes.
• elite_robots_moveit_config - example MoveIt configuration for Elite CS robots.

Getting Started

For getting started, you’ll basically need follow steps:

1. Install the elite-cs-series-sdk from source.

2. Ensure your ros environment. And recommended to run the following command to resolve the dependency issue:

    sudo apt update
    rosdep install --ignore-src --rosdistro $ROS_DISTRO --from-paths src -y
    

1. Compile driver

    # create a workspace
    mkdir -p elite_ros_ws/src
    # move source code to worksapce
    mv Elite_Robots_CS_ROS2_Driver  elite_ros_ws/src
    cd elite_ros_ws
    # compile
    colcon build
    

1. Install

    . install/setup.bash
    

1. Start the driver. See the usage documentation for details

    ros2 launch elite_robots_driver elite_control.launch.py robot_ip:=<robot ip> local_ip:=<your pc ip> cs_type:=cs66
    

If `cs_type` ends with `h` (5-axis), the launch automatically uses the 5-axis URDF and controller config.

1. Unless started in headless mode: Run the task which contain ExternalControl node by pressing play on the teach pendant.

tips:

• If the compilation fails, you can check that the version of the dependency package matches. dependency list
• If use real robot, ensure your robot FB1 and FB2 connected to network.