Control and following of the robot arm

1 Slider Control

Open a command line and run:

  • 2022 mycobot 320-M5 version：
# The default serial port name of 2022 mycobot 320-M5 version is "/dev/ttyUSB0", and the baud rate is 115200. The serial port name of some models is "dev/ttyACM0". If the default serial port name is wrong, you can change the serial port name to "/dev/ttyACM0".
roslaunch new_mycobot_320 mycobot_320_slider.launch port:=/dev/ttyUSB0 baud:=115200
  • 2022 mycobot 320-Pi version：
# The default serial port name of 2022 mycobot 320-Pi version is "/dev/ttyAMA0", and the baud rate is 115200.
roslaunch new_mycobot_320_pi mycobot_320_slider.launch port:=/dev/ttyAMA0 baud:=115200

rviz and a slider component will be opened, and you will see the following interface:

Then you can control the model in rviz to make it move by dragging the slider. If you want the real mycobot to move with the model, you need to open another command line and run:

  • 2022 mycobot 320-M5 version：
# The default serial port name of 2022 mycobot 320-M5 version is "/dev/ttyUSB0", and the baud rate is 115200. The serial port name of some models is "dev/ttyACM0". If the default serial port name is wrong, you can change the serial port name to "/dev/ttyACM0".
rosrun new_mycobot_320 mycobot_320_slider.py _port:=/dev/ttyUSB0 _baud:=115200
  • 2022 mycobot 320-Pi version：
# The default serial port name of 2022 mycobot 320-Pi version is "/dev/ttyAMA0", and the baud rate is 115200.
rosrun new_mycobot_320_pi mycobot_320_slider.py _port:=/dev/ttyAMA0 _baud:=115200

Note: Since the robot arm will move to the current position of the model when the command is input, make sure that the model in rviz does not appear to be worn out before you use the command.

Do not drag the slider quickly after connecting the robot arm to prevent damage to the robot arm.

2 Model Following

In addition to the above controls, we can also let the model move by following the real robot arm. Open a command line and run:

  • 2022 mycobot 320-M5 version:
# The default serial port name of 2022 mycobot 320-M5 version is "/dev/ttyUSB0", and the baud rate is 115200. The serial port name of some models is "dev/ttyACM0". If the default serial port name is wrong, you can change the serial port name to "/dev/ttyACM0".
rosrun new_mycobot_320 mycobot_320_follow_display.py _port:=/dev/ttyUSB0 _baud:=115200
  • 2022 mycobot 320-pi version:
# The default serial port name of 2022 mycobot 320-Pi version is "/dev/ttyAMA0", and the baud rate is 115200.
rosrun new_mycobot_320_pi mycobot_320_follow_display.py _port:=/dev/ttyAMA0 _baud:=115200

Then open another command line and run:

  • 2022 mycobot 320-M5 version:
roslaunch new_mycobot_320 mycobot_320_follow_display.launch
  • 2022 mycobot 320-Pi version:
roslaunch new_mycobot_320_pi mycobot_320_follow_display.launch

It will open rviz to show the model following effect.

3 GUI control

On the basis of the previous contents, this package also provides a simple GUI control interface. This method is used for interaction between real robot arms. Connect to mycobot.

Open a command line:

  • 2022 mycobot 320-M5 version:
# The default serial port name of 2022 mycobot 320-M5 version is "/dev/ttyUSB0", and the baud rate is 115200. The serial port name of some models is "dev/ttyACM0". If the default serial port name is wrong, you can change the serial port name to "/dev/ttyACM0".
roslaunch new_mycobot_320 mycobot_320_simple_gui.launch port:=/dev/ttyUSB0 baud:=115200
  • 2022 mycobot 320-Pi version:
# The default serial port name of 2022 mycobot 320-Pi version is "/dev/ttyAMA0", and the baud rate is 115200.
roslaunch new_mycobot_320_pi mycobot_320_simple_gui.launch port:=/dev/ttyAMA0 baud:=115200

Running effect:

4 Keyboard control

Keyboard control is added in new_mycobot_320 package, and real-time Synchronization is performed in rviz. This function depends on pythonApi, so be sure to connect with the real robot arm.

Open a command line and run:

  • 2022 mycobot 320-M5 version:
# The default serial port name of 2022 mycobot 320-M5 version is "/dev/ttyUSB0", and the baud rate is 115200. The serial port name of some models is "dev/ttyACM0". If the default serial port name is wrong, you can change the serial port name to "/dev/ttyACM0".
roslaunch new_mycobot_320 mycobot_320_teleop_keyboard.launch port:=/dev/ttyUSB0 baud:=115200
  • 2022 mycobot 320-Pi version:
# The default serial port name of mycobot 320-Pi version is "/dev/ttyAMA0", and the baud rate is 115200.
roslaunch new_mycobot_320_pi mycobot_320_teleop_keyboard.launch port:=/dev/ttyAMA0 baud:=115200

Running effect is as follows:

mycobot information will be output in the command line as follows:

SUMMARY
========

PARAMETERS
 * /mycobot_services/baud: 115200
 * /mycobot_services/port: /dev/ttyUSB0 or /dev/ttyAMA0
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    mycobot_services (mycobot_320/mycobot_services.py)
    real_listener (mycobot_320/listen_real.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [1333]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f977b3f4-b3a9-11eb-b0c8-d0c63728b379
process[rosout-1]: started with pid [1349]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [1357]
process[rviz-3]: started with pid [1367]
process[mycobot_services-4]: started with pid [1380]
process[real_listener-5]: started with pid [1395]
[INFO] [1620882819.196217]: start ...
[INFO] [1620882819.205050]: /dev/ttyAMA0,115200

MyCobot Status
--------------------------------
Joint Limit:
    joint 1: -165 ~ +165
    joint 2: -165 ~ +165
    joint 3: -165 ~ +165
    joint 4: -165 ~ +165
    joint 5: -165 ~ +165
    joint 6: -175 ~ +175

Connect Status: True

Servo Infomation: all connected

Servo Temperature: unknown

Atom Version: unknown

[INFO] [1620882819.435778]: ready

Then open another command line and run:

  • 2022 mycobot 320-M5 verion:
rosrun new_mycobot_320 mycobot_320_teleop_keyboard.py
#or
rosrun new_mycobot_320 mycobot_320_teleop_keyboard.py _speed:=70
  • 2022 mycobot 320-Pi version:
rosrun new_mycobot_320_pi mycobot_320_teleop_keyboard.py
#or
rosrun new_mycobot_320_pi mycobot_320_teleop_keyboard.py _speed:=70

You will see the following output in the command line:

Mycobot Teleop Keyboard Controller
---------------------------
Movimg options(control coordinations [x,y,z,rx,ry,rz]):
              w(x+)

    a(y-)     s(x-)     d(y+)

    z(z-) x(z+)

u(rx+)   i(ry+)   o(rz+)
j(rx-)   k(ry-)   l(rz-)

Gripper control:
    g - open
    h - close

Other:
    1 - Go to init pose
    2 - Go to home pose
    3 - Resave home pose
    q - Quit

currently:      speed: 50       change percent 5

In this terminal, you can control the state of the robot arm and move it using the keys in the command line.

Parameters supported by this script:

  • _speed: the movement speed of the robot arm
  • _change_percent: movement distance percentage

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