ROS Index
|
|
Repository Summary
| Description | Developed for aubo robot (http://www.aubo-robotics.cn/) |
| Checkout URI | https://github.com/auborobot/aubo_robot.git |
| VCS Type | git |
| VCS Version | Noetic |
| Last Updated | 2024-07-23 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robot aubo |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| aubo_controller | 1.3.3 |
| aubo_demo | 0.0.0 |
| aubo_description | 1.3.3 |
| aubo_driver | 1.3.3 |
| aubo_e3_moveit_config | 1.3.3 |
| aubo_e5_moveit_config | 0.3.0 |
| aubo_gazebo | 0.0.0 |
| aubo_i10_moveit_config | 0.3.0 |
| aubo_i16_moveit_config | 0.3.0 |
| aubo_i20_moveit_config | 0.3.0 |
| aubo_i3_moveit_config | 1.3.3 |
| aubo_i5_moveit_config | 0.3.0 |
| aubo_i5l_moveit_config | 1.3.3 |
| aubo_i7_moveit_config | 0.3.0 |
| aubo_is20_moveit_config | 0.3.0 |
| aubo_is7_moveit_config | 0.3.0 |
| aubo_kinematics | 0.3.7 |
| aubo_msgs | 1.3.3 |
| aubo_planner | 1.3.3 |
| aubo_robot | 1.3.3 |
| industrial_core | 0.7.3 |
| industrial_deprecated | 0.7.3 |
| industrial_msgs | 0.7.3 |
| industrial_robot_client | 0.7.3 |
| industrial_robot_simulator | 0.7.3 |
| industrial_trajectory_filters | 0.7.3 |
| industrial_utils | 0.7.3 |
| simple_message | 0.7.3 |
README
AUBO Robot
Maintainer: chenshudong@aubo-robotics.cn
-
Aubo_robot ROS meta-package for ROS-Industrial. See the ROS wiki page for more information.
-
This repository provides ROS support for AUBO robots. This repository holds source code for ‘Noetic’. The corresponding robot controller software version is ‘V4’. For those software version < ‘V4’, can refer to here.
Installation from Source
For the latest features and developments you might want to install from source.
- First set up a catkin workspace (see this tutorials).
- Then clone the repository into the
src/folder. It should look like/user_name/catkin_workspace/src/aubo_robot.
- In order to compile the package successfully, you need to install some packages related to
MoveItandindustrial_corepackage.
-
Make sure to source the correct setup file according to your workspace hierarchy, then use catkin_make to compile.
-
update Moveit_core_lib : enter the direction
/user_name/catkin_workspace/src/aubo_robot/UpdateMoveitLib/Kinetic/,Add permissions to the Update.sh filechmod +x Update.sh, Execution script filesudo ./Update.shThe
recommendedgcc version is 4.8 for Ubuntu 14.04; And for Ubuntu 16.04, the gcc version is 5.4.
Contents
- The repository contains packages may be unstable, and they will be migrated to the ROS-I repository after sufficient testing.
- The contents of these packages are subject to change, without prior notice.
- Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.
MoveIt! with a simulated robot
You can use MoveIt! to control the simulated robot like RVIZ ,Gazebo or VREP environment. If you want to simulate the robot in RVIZ:
- First set up the MoveIt nodes to allow motion planning and run:
rviz
1.roslaunch <robot_name>_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
gazebo
2.roslaunch aubo_gazebo aubo_<robot_name>_gazebo_control.launch
you should install some package when you use aubo model in gazebo here
-
Then select
"Interact"and move the end-effector to a new goal. -
In
"Motion Planning"->"Plan and Execute"to send trajectory to the sim robot -
Exit RViz and Ctrl-C the demo.launch window
Usage with real robot
+ When operating an AUBO robot under ROS-Industrial control, make certain that no one is within the robot workspace and the e-stop is under operator control.
-
Source the correct setup shell files and use a new terminal for each command.
-
To bring up the real robot, run:
roslaunch <robot_name>_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<192.168.***.***>
-
Move the robot around manually using a teach-pendant. Make sure the robot is controlled by robot-controller, see here.
-
Verify that the joint positions in RVIZ match the physical robot configuration.
- Then switch to the ros-controller and control the robot through MoveIt.
- Repeat for every joint and pose.
CAUTION:
Mistakes made during this verification step can result in dangerous collisions when experiment with using the MoveIt planning environment to command trajectories with the real robot. Be certain that an E-stop is close by whenever commanding robot motion.