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get_arm_state package from ros2_rm_robot repo

control_arm_move force_position_control get_arm_state rm_bringup rm_control rm_description rm_doc rm_driver rm_example rm_gazebo rm_install rm_63_config rm_65_config rm_75_config rm_eco63_config rm_eco65_config rm_gen72_config rm_ros_interfaces

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Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/realmanrobot/ros2_rm_robot.git
VCS Type	git
VCS Version	humble
Last Updated	2025-01-09
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

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Maintainers

rm

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rm_arm_examples/get_arm_state/README.md

获取机械臂状态`GET_ARM_STATE_DEMO`

1.项目介绍

本项目是一个基于机械臂机械臂本体和ROS功能包实现获取机械臂当前控制器版本、关节状态、位姿状态、六维力信息功能，程序将依次执行获取控制器版本信息，获取机械臂状态，获取六维力数据信息的指令，程序执行时，对应的数据信息会打印在终端中，该示例目的是使ROS开发者迅速掌握并灵活运用机械臂。

2. 代码结构

├── CMakeLists.txt                           <-CMake编译文件
├── launch                                   <-启动文件夹
│   └── get_arm_state_demo.launch.py         <-启动文件
├── LICENSE                                  <-版本说明
├── package.xml                              <-依赖描述文件夹
├── README.md                                <-说明文档
└── src                                      <-C++源码文件夹
    └── api_Get_Arm_State_demo.cpp           <-源码文件

3.项目下载

通过项目链接下载本项目工程文件到本地：ros2_rm_robot

4.环境配置

项目	内容
系统	Ubuntu22.04
ROS版本	humble
依赖	机械臂的ROS2-humble功能包

首先需要准备好Ubuntu22.04操作系统的虚拟机或其他设备。
安装ROS2环境humble,也可参考ROS2-humble功能包中的安装说明进行安装。
ROS2-Humble功能包安装

新建工作空间和src文件夹

    mkdir -p ~/ros2_ws/src

将ROS2文件复制到src文件夹中

    cp -r ros2_rm_robot ~/ros2_ws/src

进入工作空间

    cd ~/ros2_ws

编译rm_ros_interfaces功能包

    colcon build --packages-select rm_ros_interfaces

声明环境变量

    source ./install/setup.bash

编译所有功能包

    colcon build

再次声明环境变量

    source ./install/setup.bash

5. 使用指南

命令行使用：

我们需要在一个终端中启动机械臂的rm_driver功能包。

    ros2 launch rm_driver rm_<arm_type>_driver.launch.py

<arm_type>可以为65、63、eco65、75、gen72，可对照自己使用的设备进行实际选择
我们需要在另一个终端中启动机械臂的get_arm_state功能包。

    ros2 launch get_arm_state get_arm_state_demo.launch.py

返回信息：

在程序成功运行时将会出现以下提示信息。

    [rm_get_arm_state_demo-1] [INFO] [1722912567.024745517] [get_state]: joint state is: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]       //机械臂角度信息
    [rm_get_arm_state_demo-1] 
    [rm_get_arm_state_demo-1] [INFO] [1722912567.024994866] [get_state]: pose state is: [0.000000, 0.000000, 0.534000, 3.141000, 0.000000, 0.000000]                //机械臂位姿信息（欧拉角）
    [rm_get_arm_state_demo-1] 
    [rm_get_arm_state_demo-1] [INFO] [1722912567.025200125] [get_state]: joint state is: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]      //机械臂弧度信息
    [rm_get_arm_state_demo-1] 
    [rm_get_arm_state_demo-1] [INFO] [1722912567.025321800] [get_state]: pose state is:   //机械臂位姿信息（四元数）
    [rm_get_arm_state_demo-1] [position.x = 0.000000,
    [rm_get_arm_state_demo-1]  position.y = 0.000000,
    [rm_get_arm_state_demo-1]  position.z = 0.534000,
    [rm_get_arm_state_demo-1]  orientation.x = 1.000000,
    [rm_get_arm_state_demo-1]  orientation.y = 0.000000,
    [rm_get_arm_state_demo-1]  orientation.z = 0.000000,
    [rm_get_arm_state_demo-1]  orientation.w = 0.000296]
    [rm_get_arm_state_demo-1] 
    [rm_get_arm_state_demo-1] [INFO] [1722912567.025408782] [get_state]: Planversion is 7B0156       //机械臂控制器版本信息（7代表自由度，b代表没有六维力，156为控制器程序版本为1.5.6）
    [rm_get_arm_state_demo-1]  
    [rm_get_arm_state_demo-1] [INFO] [1722912567.025463071] [get_state]: Productversion is GEN72-BI  //机械臂设备型号息信息
    [rm_get_arm_state_demo-1] [INFO] [1723550015.625603508] [get_state]: 
    [rm_get_arm_state_demo-1] [INFO] [1723550325.782782033] [get_state]:                            // 六维力传感器原始数据
    [rm_get_arm_state_demo-1] force-force_fx is 0.000000
    [rm_get_arm_state_demo-1] force-force_fy is 0.000000
    [rm_get_arm_state_demo-1] force-force_fz is 0.000000
    [rm_get_arm_state_demo-1] force-force_mx is 0.000000
    [rm_get_arm_state_demo-1] force-force_my is 0.000000
    [rm_get_arm_state_demo-1] force-force_mz is 0.000000
    [rm_get_arm_state_demo-1]  
    [rm_get_arm_state_demo-1] [INFO] [1723550325.782929425] [get_state]:                             // 六维力传感器系统受力数据
    [rm_get_arm_state_demo-1] zero-force_fx is 0.000000
    [rm_get_arm_state_demo-1] zero-force_fy is 0.000000
    [rm_get_arm_state_demo-1] zero-force_fz is 0.000000
    [rm_get_arm_state_demo-1] zero-force_mx is 0.000000
    [rm_get_arm_state_demo-1] zero-force_my is 0.000000
    [rm_get_arm_state_demo-1] zero-force_mz is 0.000000
    [rm_get_arm_state_demo-1] 
    [rm_get_arm_state_demo-1] [INFO] [1723550325.782964040] [get_state]:                              // 六维力传感器工作坐标系受力数据
    [rm_get_arm_state_demo-1] work-zero_fx is 0.000000
    [rm_get_arm_state_demo-1] work-zero_fy is 0.000000
    [rm_get_arm_state_demo-1] work-zero_fz is 0.000000
    [rm_get_arm_state_demo-1] work-zero_mx is 0.000000
    [rm_get_arm_state_demo-1] work-zero_my is 0.000000
    [rm_get_arm_state_demo-1] work-zero_mz is 0.000000
    [rm_get_arm_state_demo-1]  
    [rm_get_arm_state_demo-1] [INFO] [1723550325.782985859] [get_state]:                              // 六维力传感器工具坐标系受力数据
    [rm_get_arm_state_demo-1] tool-zero_fx is 0.000000
    [rm_get_arm_state_demo-1] tool-zero_fy is 0.000000
    [rm_get_arm_state_demo-1] tool-zero_fz is 0.000000
    [rm_get_arm_state_demo-1] tool-zero_mx is 0.000000
    [rm_get_arm_state_demo-1] tool-zero_my is 0.000000
    [rm_get_arm_state_demo-1] tool-zero_mz is 0.000000
    

6.关键代码说明

下面是 api_Get_Arm_State_demo.cpp 文件的主要功能：

初始化 相关发布订阅信息初始化

机械臂关节状态发布器

    rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr arm_state_publisher_;

机械臂软件版本发布器

    rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr arm_software_version_publisher_;
    

机械臂六维力状态发布器

    rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr get_force_data_publisher_;

关节原始状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Armoriginalstate>::SharedPtr subscription_original_state;
    

关节状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Armstate>::SharedPtr subscription_arm_state;
    

控制器版本订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Armsoftversion>::SharedPtr subscription_software_version;
    

六维力传感器状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_force_data;
    

六维力系统受力状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_zero_force_data;
    

六维力工作坐标系受力状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_work_force_data;
    

六维力工具坐标系受力状态订阅器

    rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_tool_force_data;
    

回调函数 接收机械臂版本信息，进入消息回调函数

改变工作坐标系函数

    void get_arm_state();

机械臂状态原始结果回调函数

    void GetArmOriginalState_Callback(const rm_ros_interfaces::msg::Armoriginalstate::SharedPtr msg);
    

机械臂状态结果回调函数

    void GetArmState_Callback(const rm_ros_interfaces::msg::Armstate::SharedPtr msg);
    

控制器版本结果回调函数

    void GetArmSoftwareVersion_Callback(const rm_ros_interfaces::msg::Armsoftversion::SharedPtr msg);
    

六维力传感器结果回调函数

    void ForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);

六维力结果回调函数

    void ZeroForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);
    

六维力工作坐标结果回调函数

    void WorkForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);
    

六维力工具坐标结果回调函数

    void ToolForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);
    

7.许可证信息

具体许可证内容请参见LICENSE文件。

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rm_ros_interfaces

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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