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sciurus17_ros

ROS Packages for Sciurus17.

Product page:
https://www.rt-net.jp/products/sciurus17

ROS Wiki:
https://wiki.ros.org/sciurus17

Examples:
sciurus17_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 1.13.19
  • MoveIt 1.0.8
  • Gazebo 9.0.0
• ROS Noetic
  • OS: Ubuntu 20.04.3 LTS
  • ROS Distribution: Noetic Ninjemys 1.15.8
  • Rviz 1.14.10
  • MoveIt 1.1.5
  • Gazebo 11.5.1

Installation

Build from source

• Install ROS environments. Please see ROS Wiki.

• Download the packages for Sciurus17 using git.

  cd ~/catkin_ws/src
  git clone https://github.com/rt-net/sciurus17_ros.git

• Download sciurus17_description package. The RT Corporation's NON-COMMERCIAL LICENSE applies to the package.

  cd ~/catkin_ws/src
  git clone https://github.com/rt-net/sciurus17_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/sciurus17_ros/issues/134 for details of differences in the versions.

Update the package with the following commands:

# Update sciurus17_ros
cd ~/catkin_ws/src/sciurus17_ros
git pull origin master

# Download sciurus17_description package
cd ~/catkin_ws/src
git clone https://github.com/rt-net/sciurus17_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

Device Setup

Apply udev rules with the following commands to enable communication between sciurus17_control and Sciurus17.

roscd sciurus17_tools/scripts/
./create_udev_rules

Reboot the PC after running the script to update the udev rules. After rebooting, the new device /dev/sciurus17spine will be created.

About Sciurus17 packages

sciurus17_control

This package controls Sciurus17 using Dynamixel SDK C++ Library which can install by rosdep install command. Read and write permissions on /dev/sciurus17spine are required for communication between the package and Sciurus17.

The device name of serial port and parameters of Dynamixel servo motors are listed in:

• config/sciurus17_control1.yaml
• config/sciurus17_control2.yaml
• config/sciurus17_control3.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 Sciurus17 hardware.

At startup, this package moves the Sciurus17 to Home Position in 5 seconds. At shutdown, this package decreases PID gains of the servo motors to stop motion safely.

sciurus17_moveit_config

This package includes configuration files for MoveIt.

To launch the MoveIt demonstration with Rviz:

roslaunch sciurus17_moveit_config demo.launch

sciurus17_msgs

This package defines ROS message types for Sciurus17.

sciurus17_vision

This package includes launch files for camera nodes.

sciurus17_bringup

This package includes launch files for startup of Sciurus17.

sciurus17_tools

This package includes option tools for Sciurus17.

If the head camera (RealSense) is unstable, please run the following command before startup.

rosrun sciurus17_tools realsense_hwreset

sciurus17_gazebo

This package includes Gazebo simulation environments for Sciurus17.

roslaunch sciurus17_gazebo sciurus17_with_table.launch

NOTE: First launch will take long time to download gazebo models. Please wait until Gazebo screen is displayed.

sciurus17_examples

This package includes example codes for Sciurus17. Please refer to ./sciurus17_examples/README.en.md.

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 sciurus17_ros depends on sciurus17_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
  • コミットをスカッシュしてマージする | GitHub Docs
• 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