A brief introduction and use of rviz

rviz is a 3D visualization platform in ROS. On the one hand, it can realize the graphical display of external information. On the other hand, it can also release control information to objects through rviz, thereby realizing the monitoring and control of robots.

Introduction to the installation and interface of rviz

When installing ros, if you perform a complete installation, rviz has been installed, and you can try to run it directly; if it is not fully installed, you can install rviz separately:

# Ubuntu16.04
sudo apt-get install ros-kinetic-rviz

# Ubuntu18.04
sudo apt-get install ros-melodic-rviz

# Ubuntu20.04
sudo apt-get install ros-noetic-rviz

After the installation is complete, please open a new terminal (shortcut key Ctrl+Alt+T) and enter the following command:

roscore

Then open a new terminal (shortcut key Ctrl+Alt+T) and enter the command to open rviz

rosrun rviz rviz
# or
rviz

Open rviz and the following interface will be displayed:

Introduction to each area

On the left is the display list. A display is something that draws something in the 3D world and may have some options available in the display list.
On the top is the toolbar, which allows users to select multiple functions with various function keys
In the middle is the 3D view: it is the main screen that allows users to view various data in three dimensions. The background color, fixed frame, grid, etc. of the 3D view can be set in detail in the Global Options and Grid items displayed on the left.
Below is the time display area, including system time and ROS time.
On the right is the observation angle setting area, which can set different observation angles.

In this section, we will only give a rough introduction. If you want to know more details, you can go to the User Guide to check it out.

mycobot_ros installation and update

M5 version: Please see the end of the ROS1 Environment Setup section.

Simple use

Start through the launch file

This example is based on the premise that you have completed Environment Construction and successfully copied the company's code from GitHub.

Open a console terminal (shortcut key Ctrl+Alt+T) Enter the following command to ROS environment configuration.

cd ~/catkin_ws/
source devel/setup.bash

Enter again:

mycobot 280-M5 version:

roslaunch mycobot_280 test.launch

Open rviz and get the following result:

If you want to learn more about rviz, you can go to the official document to view it

M5 version prerequisites

Open the console terminal (shortcut key Ctrl+Alt+T), open the terminal window to view the device name:

# View the device name of the robot
ls /dev/ttyUSB* # Old version myCobot280 M5

# If the terminal does not display the /dev/ttyUSB related name, you need to use the following command
ls /dev/ttyACM* # New version myCobot280 M5

Grant serial port permissions to the robot:

# The default device name is /dev/ttyUSB0. If the device name is not the default value, it needs to be modified.
sudo chmod 777 /dev/ttyUSB0 # Old version myCobot280 M5

sudo chmod 777 /dev/ttyACM0 # New version myCobot280 M5

Then enter the user password (Note: The password will not be displayed, just enter it correctly).

280 series rviz user guide

Robot arm control

Slider control

Open a command line and run:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 slider_control.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a slider component, you will see the following screen:

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

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 slider_control.py _port:=/dev/ttyUSB0 _baud:=115200

Please note: due to the commandThe robot arm will move to the current position of the model while inputting. Before you use the command, please make sure that the model in rviz does not have any penetration Do not drag the slider quickly after connecting the robot arm to prevent damage to the robot arm

Model following

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

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 follow_display.py _port:=/dev/ttyUSB0 _baud:=115200

Then open another command line and run:

mycobot 280-M5 version:
```
roslaunch mycobot_280 mycobot_follow.launch
```
It will open rviz to show the model following effect.

GUI control

Based on the previous, this package also provides a simple Gui control interface. This method is intended for real robotic arms to interact with each other, please connect mycobot.

Open the command line:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 simple_gui.launch port:=/dev/ttyUSB0 baud:=115200

Keyboard control

Added the keyboard control function in the mycobot_280 package, and synchronized it in real time in rviz. This function depends on pythonApi, so make sure it is connected to the real robot arm.

Open a command line and run:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 teleop_keyboard.launch port:=/dev/ttyUSB0 baud:=115200

The running effect is as follows:

The command line will output mycobot information as follows:

SUMMARY
========

PARAMETERS
 * /mycobot_services/baud: 115200
 * /mycobot_services/port: /dev/ttyUSB0
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.1.17

NODES
  /
    mycobot_services (mycobot_280/mycobot_services.py)
    real_listener (mycobot_280/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/ttyUSB0,115200

MyCobot Status
--------------------------------
Joint Limit:
    joint 1: -170 ~ +170
    joint 2: -170 ~ +170
    joint 3: -170 ~ +170
    joint 4: -170 ~ +170
    joint 5: -170 ~ +170
    joint 6: -180 ~ +180

Connect Status: True

Servo Infomation: all connected

Servo Temperature: unknown

Atom Version: unknown

[INFO] [1620882819.435778]: ready

Next, open another command line and run:

mycobot 280-M5 version:

rosrun mycobot_280 teleop_keyboard.py
#or
rosrun mycobot_280 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 and move the robot through the keys in the command line.

Parameters supported by this script:

_speed: robot movement speed.
_change_percent: movement distance percentage.

Vision

Install the camera at the end of mycobot. This vision part uses the eye-in-hand method.

Identify and display

Command line operation:

mycobot 280-M5 version:

roslaunch mycobot_280 detect_marker.launch

Optional parameters:

num: camera id, default is 0.

After starting:

Recognize the QR code and obtain the relative position relationship with the camera. According to the end position of mycobot in rviz, perform coordinate conversion and finally display it in rviz.

You can refer to Slider Control and use slider_control.py to control the robot arm

Visual Tracking and Grasping

This section requires the use of a vertical suction pump.

Run from command line:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 detect_marker_with_topic.launch port:=/dev/ttyUSB0 baud:=115200

Optional parameters:

num: Camera id, default is 0.
port: serial port string
baud: baud rate

After startup:

The status of mycobot will be displayed in real time.

Then run the scripts for tracking and grabbing. Open a new command line:

mycobot 280-M5 version:
```
rosrun mycobot_280 follow_and_pump.py
```

After starting, mycobot will go to its initial position

After the marker is recognized, follow it for a while, then try to absorb and end the program.

End effector

Supported end effectors: myCobot Adaptive Gripper, myCobot Vertical Suction Pump V2.0, Camera Flange
Applicable devices: myCobot 280 M5, myCobot 280 PI

Note: myCobot Adaptive Gripper only supports myCobot 280 M5 devices

myCobot Adaptive Gripper

1 Load the model

Open a command line and run:

myCobot 280-M5 version:

roslaunch mycobot_280 test_gripper.launch

It will open rviz, and you will see the following screen:

2 Slider Control

Open a command line and run:

myCobot 280-M5 version:

# The default serial port name of myCobot 280-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, the serial port name can be changed to "/dev/ttyACM0".
roslaunch mycobot_280 slider_control_gripper.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a slider component, and you will see the following screen:

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

myCobot 280-M5 version:

# The default serial port name of myCobot 280-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 mycobot_280 slider_control_gripper.py _port:=/dev/ttyUSB0 _baud:=115200

Please note: Since the robot arm will move to the current position of the model while the command is input, please make sure that the model in rviz does not have a model penetration phenomenon before you use the command. Do not drag the slider quickly after connecting the robot arm to prevent damage to the robot arm.

3 Model following

In addition to the above control, we can also let the model follow the movement of the real robot arm. Open a command line and run:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 follow_display_gripper.py _port:=/dev/ttyUSB0 _baud:=115200

Then open another command line and run:

mycobot 280-M5 version:

roslaunch mycobot_280 mycobot_follow_gripper.launch

It will open rviz to show the model following effect.

4 GUI control

Based on the previous, this package also provides a simple Gui control interface. This method is intended to allow real robotic arms to interact with each other. Please connect myCobot.

Open the command line:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 simple_gui_gripper.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a GUI interface, and you will see the following screen:

5 Keyboard control

Keyboard control function has been added to the mycobot_280 package, and it is synchronized in real time in rviz. This function relies on pythonApi, so make sure it is connected to the real robot arm.

Open a command line and run:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 teleop_keyboard_gripper.launch port:=/dev/ttyUSB0 baud:=115200

The running effect is as follows:

The command line will output mycobot information, as follows:

========

PARAMETERS
 * /mycobot_services/baud: 115200
 * /mycobot_services/port: /dev/ttyUSB0
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.1.17

NODES
  /
    mycobot_services (mycobot_280/mycobot_services.py)
    real_listener (mycobot_280/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/ttyUSB0,115200

MyCobot Status
--------------------------------
Joint Limit:
    joint 1: -170 ~ +170
    joint 2: -135 ~ +140
    joint 3: -150 ~ +150
    joint 4: -145 ~ +135
    joint 5: -170 ~ +170
    joint 6: -180 ~ +180

Connect Status: True

Servo Infomation: all connected

Servo Temperature: unknown

Atom Version: unknown

[INFO] [1620882819.435778]: ready

Next, open another command line and run:

mycobot 280-M5 version:

rosrun mycobot_280 teleop_keyboard.py

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

Pump control:
b - open
m - 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 and move the robot by pressing keys in the command line.

Parameters supported by this script:

_speed: robot movement speed.
_change_percent: percentage of moving distance.

myCobot vertical pump V2.0

1 Load the model

Open a command line and run:

myCobot 280-M5 version:

roslaunch mycobot_280 test_pump.launch

It will open rviz and you will see the following screen:

2 Slider control

Note: This function only supports the control of the robot

Open a command line and run:

myCobot 280-M5 version:

### The default serial port name of myCobot 280-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 mycobot_280 slider_control_pump.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a slider component, and you will see the following screen:

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

myCobot 280-M5 version:

### The default serial port name of myCobot 280-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 mycobot_280 slider_control.py _port:=/dev/ttyUSB0 _baud:=115200

Please note: Since the robot will move to the current position of the model when the command is input, please make sure that the model in rviz does not have any penetration before you use the command. Do not drag the slider quickly after connecting the robot to prevent damage to the robot.

3 GUI control

Based on the previous, this package also provides a simple Gui control interface. This method is intended for real robots to interact with each other, please connect myCobot.

Open the command line:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 simple_gui_pump.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a GUI interface, and you will see the following screen:

4 Keyboard control

Added keyboard control function in the mycobot_280 package, and synchronized in real time in rviz. This function depends on python API, so make sure to connect to the real robot arm.

Open a command line and run:

mycobot 280-M5 version:

# The default serial port name of mycobot 280-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 mycobot_280 teleop_keyboard_pump.launch port:=/dev/ttyUSB0 baud:=115200

The running effect is as follows:

Next, open another command line and run:

mycobot 280-M5 version:

rosrun mycobot_280 teleop_keyboard.py

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

Pump control:
b - open
m - 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 and move the robot through the keys in the command line.

Parameters supported by this script:

_speed: robot movement speed.
_change_percent: movement distance percentage.

Camera Flange

1 Load the model

Open a command line and run:

myCobot 280-M5 version:

roslaunch mycobot_280 test_camera_flange.launch

myCobot 280-PI version:

roslaunch mycobot_280pi test_camera_flange.launch

It will open rviz and you will see the following screen:

2 Slider Control

Note: This function only supports the control of the robot

Open a command line and run:

myCobot 280-M5 version:

# The default serial port name of myCobot 280-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 mycobot_280 slider_control_camera_flange.launch port:=/dev/ttyUSB0 baud:=115200

It will open rviz and a slider component, and you will see the following screen:

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

myCobot 280-M5 version:

# The default serial port name of myCobot 280-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 mycobot_280 slider_control.py _port:=/dev/ttyUSB0 _baud:=115200

Camera Flange && Pump

1 Load the model

Open a command line and run:

myCobot 280-M5 version:

roslaunch mycobot_280 test_camera_flange_pump.launch

It will open rviz and you will see the following:

URDF model address

6.2.3 rivz Introduction and Use

A brief introduction and use of rviz

Introduction to the installation and interface of rviz

Introduction to each area

mycobot_ros installation and update

Simple use

M5 version prerequisites

280 series rviz user guide

Robot arm control

Slider control

Model following

GUI control

Keyboard control

Vision

Identify and display

Visual Tracking and Grasping

End effector

myCobot Adaptive Gripper

1 Load the model

2 Slider Control

3 Model following

4 GUI control

5 Keyboard control

myCobot vertical pump V2.0

1 Load the model

2 Slider control

3 GUI control

4 Keyboard control

Camera Flange

1 Load the model

2 Slider Control

Camera Flange && Pump

1 Load the model

URDF model address

1 myCobot adaptive gripper

2 myCobot vertical suction pump V2.0

3 Camera flange

4 Camera flange && suction pump

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