Control and following of the robot arm

1 Slider Control

Open a command line and run:

  • mypalletizer 260-M5 version:
# The default serial port name of mypalletizer 260-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".
ros2 launch mypalletizer_260 slider_control.launch.py

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:

  • mypalletizer 260-M5 version:
# The default serial port name of mypalletizer 260 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".
ros2 run mypalletizer_260 slider_control

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:

  • mypalletizer 260-M5 version:
# The default serial port name of mypalletizer 260 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".
ros2 launch mypalletizer_260 mycobot_follow.launch.py

Then open another command line and run:

  • mypalletizer 260-M5 version:
ros2 run mypalletizer_260 follow.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:

  • mypalletizer 260-M5 version:
# The default serial port name of mypalletizer 260 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".
ros2 launch mypalletizer_260 simple_gui.launch.py

Running effect:

4 Keyboard control

Keyboard control is added in mypalletizer_260 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:

  • mypalletizer 260-M5 version:
# The default serial port name of mypalletizer 260 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".
ros2 launch mypalletizer_260 teleop_keyboard.launch.py

Running effect is as follows:

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

[INFO] [launch]: All log files can be found below /home/u20/.ros/log/2022-08-01-14-53-35-880311-u20-VirtualBox-5591
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [5594]
[INFO] [rviz2-2]: process started with pid [5596]
[INFO] [follow_display-3]: process started with pid [5598]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 0 children
[robot_state_publisher-1] [INFO] [1659336816.100317312] [robot_state_publisher]: got segment base
[robot_state_publisher-1] [INFO] [1659336816.100434612] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1659336816.100443491] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1659336816.100451008] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1659336816.100457862] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1659336816.100464597] [robot_state_publisher]: got segment link5
[rviz2-2] [INFO] [1659336816.529758865] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1659336816.530082788] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-2] [INFO] [1659336816.620671305] [rviz2]: Stereo is NOT SUPPORTED
[follow_display-3] [INFO] [1659336816.635957580] [follow_display]: port:/dev/ttyUSB0, baud:115200
[rviz2-2] Parsing robot urdf xml string.

Then open another command line and run:

  • mypalletizer 260-M5 version:
ros2 run mypalletizer_260 teleop_keyboard

You will see the following output in the command line:

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

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

        z(z-)       x(z+)

        u(rx+)      i(rx-)  


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: 30    change percent: 2

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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