correspondence
Our MyarmM750 mainly uses a Topic method for communication
Topic is one of the most commonly used communication mechanisms in ROS, which is based on the publisher-subscriber model, in which one node publishes messages as publishers and other nodes receive messages as subscribers. A publisher can publish messages to multiple subscribers at the same time, and subscribers can receive messages from multiple publishers. This approach is ideal for situations that require real-time data updates, such as processing and real-time control of sensor data.
Start by creating a Publisher in the .py file to publish our message to the MyarmM750
Next, open the terminal in the workspace and start ROS2:
colcon build
soure install/setup.bash
ros2 launch myarm_m750 test.launch.py
Open RVIZ and then launch our read_control.py file
To create a new terminal in the workspace, enter the following command, first look at the running node, then look at the PID of the joint_state_publisher node, and finally kill the number string generated by this node:
ros2 node list
ps aux | grep joint_state_publisher
kill 32695 #This string of numbers is generated at random
Finally, we open a new terminal and enter:
rqt_graph
We can see all the information about the node
The MyarmM750 is also in a state where it can be manually moved