ROS Index
|
mg400_joy package from mg400_ros2 repomg400 mg400_bringup mg400_common mg400_description mg400_interface mg400_joy mg400_msgs mg400_node mg400_plugin mg400_plugin_base mg400_rviz_plugin |
Package Summary
| Tags | No category tags. |
| Version | 1.2.3 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/harvestx/mg400_ros2.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-03-25 |
| 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
Additional Links
Maintainers
- m12watanabe1a
Authors
mg400_joy
Dobot MG400 ROS2 Repository with Joy-con.
Launch
$ ros2 launch mg400_bringup joy.launch.py
Description
Create MoveJog service call by joy sticks.
By default, call MoveJog with joint number argument.
R1 button makes the arguments linear direction (certacian) and toggle control each time pressed.
Buttons and Communication Protocol
| Target | Commands | Description |
|---|---|---|
| PS | ResetRobot |
the robot stops its current action |
| Start | EnableRobot / DisableRobot |
toggle enable and disable the robot |
| R1 | - | toggle joint and linear control |
MoveJog (Joint Control)
| Target | Commands | Description |
| ————— | —————————- | ———————————– |
| Left Stick ← | MoveJog(j1+) | jogging while stick tilted |
| Left Stick → | MoveJog(j1-) | jogging while stick tilted |
| Left Stick ↑ | MoveJog(j2-) | jogging while stick tilted |
| Left Stick ↓ | MoveJog(j2+) | jogging while stick tilted |
| Right Stick ← | MoveJog(j4+) | jogging while stick tilted |
| Right Stick → | MoveJog(j4-) | jogging while stick tilted |
| Right Stick ↑ | MoveJog(j3+) | jogging while stick tilted |
| Right Stick ↓ | MoveJog(j3-) | jogging while stick tilted |
| (Release Stick) | MoveJog() | stop jogging |
See the figure below.
MoveJog (Linear Control)
| Target | Commands | Description |
| ————— | —————————- | ———————————– |
| Left Stick ← | MoveJog(X+) | jogging while stick tilted |
| Left Stick → | MoveJog(X-) | jogging while stick tilted |
| Left Stick ↑ | MoveJog(Y-) | jogging while stick tilted |
| Left Stick ↓ | MoveJog(Y+) | jogging while stick tilted |
| Right Stick ← | MoveJog(j4+) | (same as joint control) |
| Right Stick → | MoveJog(j4-) | (same as joint control) |
| Right Stick ↑ | MoveJog(Z+) | jogging while stick tilted |
| Right Stick ↓ | MoveJog(Z-) | jogging while stick tilted |
| (Release Stick) | MoveJog() | stop jogging |
See the figure below.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| joy | |
| ament_lint_auto | |
| ament_lint_common | |
| rclcpp | |
| rclcpp_components | |
| p9n_interface | |
| mg400_msgs | |
| mg400_interface |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mg400 | |
| mg400_bringup |