Skip to content

Latest commit

 

History

History
137 lines (92 loc) · 3.12 KB

README_EN.md

File metadata and controls

137 lines (92 loc) · 3.12 KB

ROS-Robot

1. Introduction

DOBOT_6Axis-ROS2_V3 is a software development kit designed by Dobot based on the ROS of TCP/IP protocol. It is developed based on ROS/C++、python language, follows the Dobot-TCP-IP control communication protocol, connects to the device terminal via socket, and provides users with an easy-to-use API interface. Through DOBOT_6Axis-ROS2_V3, users can quickly connect to the Dobot device and carry out secondary development to control and use the device.

Pre-dependency

  • You can connect your computer to the network interface of the controller with a network cable, and then set the fixed IP to be in the same network segment as the controller IP. You can also connect your computer to the controller via wireless connection.

When connected to LAN1 via wired connection: IP: 192.168.5.1; When connected to LAN2 via wired connection: IP: 192.168.100.1; Wireless connection: IP: 192.168.1.6

  • Try pinging the controller IP to make sure it is under the same network segment.
    • Ubuntu 20.04;Ubuntu 22.04

Run steps

1. Source Code Compilation

Download source code

mkdir -p ~/dobot_ws/src

cd ~/dobot_ws/src

git clone https://github.com/Dobot-Arm/DOBOT_6Axis_ROS2_V3.git

cd ~/dobot_ws

Compile

colcon build

source install/local_setup.sh

Set environment variable

echo "source ~/dobot_ws/install/local_setup.sh" >> ~/.bashrc

Set the robot arm connection IP

echo "export IP_address=192.168.5.1" >> ~/.bashrc
source ~/.bashrc

If it is a CR3 robot, please type the following commands

echo "export DOBOT_TYPE=cr3" >> ~/.bashrc
source ~/.bashrc

If it is a CR5 robot, please type the following commands

echo "export DOBOT_TYPE=cr5" >> ~/.bashrc
source ~/.bashrc

If it is a CR10 robot, please type the following commands

echo "export DOBOT_TYPE=cr10" >> ~/.bashrc
source ~/.bashrc

If it is a CR16 robot, please type the following commands

echo "export DOBOT_TYPE=cr16" >> ~/.bashrc
source ~/.bashrc

If it is a nova2 robot, please type the following commands

echo "export DOBOT_TYPE=nova2" >> ~/.bashrc
source ~/.bashrc

If it is a nova5 robot, please type the following commands

echo "export DOBOT_TYPE=nova5" >> ~/.bashrc
source ~/.bashrc

2. Demonstration

Use in a simulation environment

rviz display

ros2 launch dobot_rviz dobot_rviz.launch.py

You can access the joint_state_publisher_gui for each angle, and see the effect on the rviz page.

rviz

moveit control

  • Start moveit with the following command
ros2 launch dobot_moveit dobot_moveit.launch.py
  • Drag the joint to any angle and click "Plan and Execute" to see the result.

moveit

gazebo simulation

  • Start gazebo with the following command
ros2 launch dobot_gazebo dobot_gazebo.launch.py

gazebo

Controlling the real robot

  • Use the following command to connect to the robot

    ros2 launch dobot_bringup_v3 dobot_bringup_ros2.launch.py

  • View services

ros2 service list

service