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Repository Summary
| Description | Use manipulator draw a picture! Look once and draw it! |
| Checkout URI | https://github.com/li-haojia/drawing_manipulator.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-01-21 |
| 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 |
|---|---|
| robot_voice | 0.0.0 |
| aubo_controller | 1.3.3 |
| aubo_demo | 0.0.0 |
| aubo_description | 1.3.3 |
| aubo_driver | 1.3.3 |
| aubo_gazebo | 0.0.0 |
| aubo_i10_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 | 1.3.3 |
| aubo_kinematics | 0.3.7 |
| aubo_msgs | 1.3.3 |
| aubo_planner | 1.3.3 |
| aubo_robot | 1.3.3 |
| draw_core | 0.0.0 |
| industrial_core | 0.7.1 |
| industrial_deprecated | 0.7.1 |
| industrial_msgs | 0.7.1 |
| industrial_robot_client | 0.7.1 |
| industrial_robot_simulator | 0.7.1 |
| industrial_trajectory_filters | 0.7.1 |
| industrial_utils | 0.7.1 |
| simple_message | 0.7.1 |
README
语音自主导航绘图机器人
本系统在 Ubuntu 16.04 + ros kinetic下测试通过
机械臂控制采用move_it
导航控制采用move_base
Contributors
许焱然](https://github.com/Xu-Yanran) [李昊佳 邓志豪 黄峥沁
*equal contribution
展示效果
绘图部分
svg图片边缘轮廓->转为gcode->解析gcode ->运动学逆解执行
运行方法
仿真测试
# 在第一个终端打开
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
# 在第二个终端打开
roslaunch aubo_gazebo aubo_i5_gazebo_control.launch
# 在第三个终端启动绘图程序
roslaunch draw_core start_draw.launch
即可看到aubo机械臂在gazebo下正在空中绘制图形
指定gcode文件方法
roslaunch draw_core simulation_draw.launch file:="your gcode path"
实物运行
1. 原点设定
# 在第一个终端启动机械臂 注意替换自己的机械臂IP地址
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.5.10
使用示教器将机械臂运行到绘制的原点(原点定义为 绘图平面的0,0点 并且该点高度为落笔绘制高度)
# 在第二个终端启动绘图程序
rosrun draw_core arm_controller.py
记录下终端中 current_joint_values的值
填入draw_core/scripts/arm_controller.py 中go_home函数joint_positions 数组中
2. 运行Gcode 绘制
# 在第一个终端启动机械臂 注意替换自己的机械臂IP地址
roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.5.10
# 在第二个终端启动绘图程序
roslaunch draw_core start_draw.launch
指定gcode文件方法
roslaunch draw_core simulation_draw.launch file:="your gcode path"
Enjoy it!
3. SVG图片转Gcode
# 别忘记 source ros的工作空间 source devel/setup.bash
roscd draw_core
cd scripts/
python svg_convert.py "your svg path"
转换完成的Gcode与图片保存在同一个目录下的gcode_output,并且与图片文件名称相同.
文件结构
aubo_robot 奥博机械臂驱动
industrial_core 奥博机械臂驱动依赖
draw_core 绘图部分核心代码
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arm_controller.py机械臂控制核心 -
gcode_draw.pygcode解析与绘制 -
gcode_excutegcode指令与机械臂控制的中间接口文件 -
svg_convertsvg转gcode -
py_svg2gcodesvg转Gcode核心代码库-
lib/shapes.pysvg形状类型解析 -
lib/cubicsuperpath.py曲线插值
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CONTRIBUTING
No CONTRIBUTING.md found.
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