Arm package for ROS

Repository for the ros package of the robotic arm

Dependencies

ROS

export ROS_VERSION=kinetic

or

export ROS_VERSION=melodic

ROS Serial for the Microcontroler

Here the repository with the microcontroler code and instructions to start the rosserial

Move It

sudo apt-get install ros-$ROS_VERSION-catkin python-catkin-tools
sudo apt install ros-$ROS_VERSION-moveit

Create a catkin workspace:

mkdir -p ~/roboga_ws/src
cd ~/roboga_ws/src
git clone -b $ROS_VERSION-devel https://github.com/ros-planning/moveit_tutorials.git
git clone -b $ROS_VERSION-devel https://github.com/ros-planning/panda_moveit_config.git
rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_VERSION
cd ..
catkin config
catkin build

Python dependencies

pip install rospkg
pip install rospy
pip install pyyaml
pip install pyqt5
pip install pyserial

This package 'roboga_arm'

cd ~/roboga_ws/src
git clone https://gitlab.com/pequihome/roboga_arm
cd ..
catkin build

Running package

source ~/roboga_ws/devel/setup.bash

Base

The launch will open rviz with the model of the arm, and the topic needed for the format of message recived by the microcontroller

roslaunch roboga_arm roboga.launch

If the model apears collapsed on ROS Melodic, try this:

export LC_NUMERIC="en_US.UTF-8"

Ros serial

In another terminal open the rosserial node to comunicate with the microcontroler
Example command if serial is connected on /dev/ttyUSB0

rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=250000

Example pick and place

In another terminal :

rosrun roboga_arm roboga_grasp.py