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Repository Summary
| Description | About Demo of CRA/E6 ; Dobot V4 version ROS2 |
| Checkout URI | https://github.com/dobot-arm/dobot_6axis_ros2_v4.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-06 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| cr10_moveit | 0.3.0 |
| cr12_moveit | 0.3.0 |
| cr16_moveit | 0.3.0 |
| cr3_moveit | 0.3.0 |
| cr5_moveit | 0.3.0 |
| cr7_moveit | 0.3.0 |
| cra_description | 0.0.0 |
| cr_robot_ros2 | 0.0.0 |
| dobot_demo | 0.0.0 |
| dobot_gazebo | 0.0.0 |
| dobot_moveit | 0.0.0 |
| dobot_msgs_v4 | 0.0.0 |
| dobot_rviz | 0.0.0 |
| me6_moveit | 0.3.0 |
| servo_action | 0.0.0 |
README
ROS-Robot
1. 简介
DOBOT_6Axis-ROS2_V4 是为 Dobot 公司旗下基于TCP/IP协议的ROS的封装设计的软件开发套件。它基于 ROS/C++、python语言开发，遵循Dobot-TCP-IP控制通信协议，通过socket与机器终端进行Tcp连接， 并为用户提供了易用的api接口。通过 DOBOT_6Axis-ROS2_V4，用户可以快速地连接Dobot机器并进行二次开发对机器的控制与使用。
前置依赖
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电脑可用网线连接控制器的网口，然后设置固定 IP，与控制器 IP 在同一网段下。也可无线连接控制器。
有线连接时连接：ip为192.168.5.1, 无线连接：ip为192.168.1.6
- 尝试 ping 通控制器 IP，确保在同一网段下。
- Ubuntu 22.04
运行步骤
1. 源码编译
下载源码
mkdir -p ~/dobot_ws/src
cd ~/dobot_ws/src
git clone https://github.com/Dobot-Arm/DOBOT_6Axis_ROS2_V4.git
cd ~/catkin_ws
编译
colcon build
source install/local_setup.sh
设置环境变量
echo "source ~/dobot_ws/install/local_setup.sh" >> ~/.bashrc
设置机械臂连接IP
echo "export IP_address=192.168.5.1" >> ~/.bashrc
source ~/.bashrc
若为 CR3 机械臂，则使用如下命令设置机械臂类型
echo "export DOBOT_TYPE=cr3" >> ~/.bashrc
source ~/.bashrc
若为 CR5 机械臂，则使用如下命令设置机械臂类型
echo "export DOBOT_TYPE=cr5" >> ~/.bashrc
source ~/.bashrc
若为 CR10 机械臂，则使用如下命令设置机械臂类型
echo "export DOBOT_TYPE=cr10" >> ~/.bashrc
source ~/.bashrc
若为 CR16 机械臂，则使用如下命令设置机械臂类型
echo "export DOBOT_TYPE=cr16" >> ~/.bashrc
source ~/.bashrc
若为 E6 机械臂，则使用如下命令设置机械臂类型
echo "export DOBOT_TYPE=me6" >> ~/.bashrc
source ~/.bashrc
2. 使用演示
在仿真环境下使用
rviz 显示
ros2 launch dobot_rviz dobot_rviz.launch.py
可通过加载 joint_state_publisher_gui 调节各关节的角度，在 rviz 上看到其显示效果
moveit 控制
- 使用如下命令启动 moveit
ros2 launch dobot_moveit dobot_moveit.launch.py
- 鼠标将关节拖到任意的角度，点击 “Plan and Execute” 即可看到运行效果
gazebo 仿真
- 使用如下命令启动 gazebo
ros2 launch dobot_gazebo dobot_gazebo.launch.py
控制真实机械臂
- 使用如下命令连接机械臂
ros2 launch cr_robot_ros2 dobot_bringup_ros2.launch.py
- 使用如下命令查看服务
ros2 service list
CONTRIBUTING
No CONTRIBUTING.md found.
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