The objective of this package is to send commands to move the robotic arm and the gripper in an easy way through a python script in ROS2 Dashing.
In the following figure you can see the basic principle of operation of this package:
-
Install ROS2 via debian packages for Ubuntu Bionic (18.04).
Instruction in the ROS2 wiki https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/
-
Create a workspace.
Instructions in the ROS2 wiki https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/
-
Clone this repo to
<ros2-workspace>/src
git clone https://www.w.hs-karlsruhe.de/gitlab/robolab/ros/robot_interface_eki.git- Before starting it is necessary to configure the host, port and meta_port parameters of the robot_interface_launch.py file in order to communicate with the robot. Make sure, it has the next values:
parameters=[
{'host': '10.166.32.145'},
{'port': 54600},
{'meta_port': 54601}
],
output='screen'- This following command is only used for the package to recognize a library that it uses internally:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/<user_name>/<workspace>/build/robot_interface_eki/lib- build the packages in
<ros2-workspace>/src
colcon build- always source in each shell:
source /opt/ros/dashing/setup.bash
source ~/<workspace>/install/setup.bash- In first shell:
ros2 launch robot_interface_eki robot_interface.launch.pyThis will start the server with the previous network configuration (add "stdbuf -o L" at the beginning just if you want to see the logs messages too)
- In second shell:
ros2 run robot_interface_eki client.pyThis file is the one you must modify to send commands to the robot. There you will also find several examples so you can get started quickly.