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aubo_ros_driver repositorymessages ros-industrial services aubo_robot aubo_dashboard_msgs aubo_gazebo aubo_moveit_config aubo_msgs aubo_planning aubo_robot_driver |
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Repository Summary
| Description | |
| Checkout URI | https://github.com/auborobot/aubo_ros_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-01-08 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | messages ros-industrial services aubo_robot |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| aubo_dashboard_msgs | 2.1.2 |
| aubo_gazebo | 0.0.0 |
| aubo_moveit_config | 0.3.0 |
| aubo_msgs | 1.3.4 |
| aubo_planning | 0.0.0 |
| aubo_robot_driver | 2.1.2 |
README
aubo_ros_driver
遨博机器人ROS驱动,在kinetic\melotic\noetic上通过编译、运行测试
安装所需工具(修改对应ros版本)
安装工业机器人控制接口：
sudo apt install ros-kinetic-industrial-robot-status-interface
安装moveit：
sudo apt install ros-kinetic-moveit
安装逆向运动学求解器：
sudo apt install ros-kinetic-trac-ik-kinematics-plugin
在 gazebo 中仿真 aubo 机器人（以 aubo_i5 为例）
roslaunch aubo_gazebo aubo_bringup.launch robot_model:=aubo_i5
roslaunch aubo_moveit_config moveit_planning_execution.launch sim:=true robot_model:=aubo_i5
roslaunch aubo_moveit_config moveit_rviz.launch
驱动真实机械臂 aubo_i5 (修改机器人对应 robot_ip )
roslaunch aubo_robot_driver aubo_bringup.launch robot_model:=aubo_i5 robot_ip:=192.168.127.128 debug:=false aubo_hardware_interface_node_required:=false
roslaunch aubo_moveit_config moveit_planning_execution.launch robot_model:=aubo_i5
roslaunch aubo_moveit_config moveit_rviz.launch
驱动真实机械臂单点轨迹运动demo (修改机器人对应 robot_ip robot_model)
roslaunch aubo_robot_driver aubo_bringup.launch robot_model:=aubo_i5 robot_ip:=192.168.127.128 debug:=false aubo_hardware_interface_node_required:=false
roslaunch aubo_planning aubo_planning_demo.launch robot_model:=aubo_i5
CONTRIBUTING
No CONTRIBUTING.md found.
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