Doosan Robotics

overview

Doosan ROS Video

Doosan ROS Online Lecture(Kor)
Doosan ROS Online Lecture(Eng)

install

virtual mode

To utilize the new emulator in virtual mode, Docker is required . Please ensure Docker is installed beforehand if virtual mode is required.

install Docker https://docs.docker.com/engine/install/ubuntu/

dependency packages

sudo apt-get install ros-noetic-rqt* ros-noetic-moveit* ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-position-controllers ros-noetic-ros-controllers ros-noetic-ros-control ros-noetic-joint-state-publisher-gui ros-noetic-joint-state-publisher

build

Doosan Robot ROS Package is implemented at ROS-Noetic.

### We recommand the /home/<user_home>/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/doosan-robotics/doosan-robot
rosdep install --from-paths doosan-robot --ignore-src --rosdistro noetic -r -y
##### Emulator Download
sh doosan-robot/doosan_robot/install_emulator.sh 

##### Serial Package source build
### Noetic distro does not support serial package, so you have to install it manually.
cd ~/catkin_ws/src
git clone https://github.com/wjwwood/serial.git

cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

usage

Operation Mode

Virtual Mode

If you are driveing without a real robot, use virtual mode
When ROS launches in virtual mode, the emulator(DRCF) runs automatically.

(DRCF) location: docker image

roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual

One emulator is required for each robot

Real Mode

Use real mode to drive a real robot
The default IP of the robot controller is 192.168.137.100 and the port is 12345.

roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.137.100 port:=12345

---

dsr_description

roslaunch dsr_description m0609.launch    
roslaunch dsr_description m1013.launch color:=blue # Change Color
roslaunch dsr_description m1509.launch 
roslaunch dsr_description m0617.launch color:=blue # change color 
roslaunch dsr_description a0509.launch 
roslaunch dsr_description e0509.launch    

$ roslaunch dsr_description m1013.launch

• In dsr_description, the user can use joint_state_publisher to move the robot.
• Joint_state_publisher

$ _roslaunch dsr_description m0617.launch color:=blue

---

dsr_moveit_config

arguments

color:= ROBOT_COLOR <white / blue> deflaut = white (e0509 has only white)

roslaunch moveit_config_m0609 m0609.launch
roslaunch moveit_config_m0617 m0617.launch
roslaunch moveit_config_m1013 m1013.launch 
roslaunch moveit_config_m1509 m1509.launch
roslaunch moveit_config_a0509 a0509.launch
roslaunch moveit_config_a0509 e0509.launch

---

dsr_control (default model:= m1013, default mode:= virtual)

arguments

host := ROBOT_IP deflaut = 127.0.0.1 port := ROBOT_PORT default = 12345
mode := OPERATION MODE <virtual / real> deflaut = virtual
model := ROBOT_MODEL <m0609 / 0617 / m1013 / m1509 / a0509 / a0912 / h2017 / h2515 / e0509> deflaut = m1013
color := ROBOT_COLOR <white / blue> deflaut = white
gripper := USE_GRIPPER <none / robotiq_2f> deflaut = none
mobile := USE_MOBILE <none / husky> deflaut = none
rviz := USE_RVIZ_GUI <true / false> deflaut = true

dsr_moveit

roslaunch dsr_launcher dsr_moveit.launch
roslaunch dsr_launcher dsr_moveit.launch model:=m0609 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m0617 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1013 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1509 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=a0509 mode:=virtual

dsr_moveit + gazebo

roslaunch dsr_launcher dsr_moveit_gazebo.launch

How to use MoveIt Commander

You can run Moveit with CLI commands through the moveit commander package.

You can install the "moveit_commander" package using below command.

sudo apt-get install ros-noetic-moveit-commander

MoveitCommander usage example

roslaunch dsr_launcher dsr_moveit.launch model:=m1013
In another terminal 
ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description   

moveit commander CLI is executed.

> use arm 
> goal0 = [0 0 0 0 0 0]        # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0]  # save the target position to varialbe "goal1" / radian
> go goal1                     # plan & excute (the robot is going to move target position)
> go goal0                     # paln & excute (the robot is going to move home position)

---

dsr_launcher

If you don`t have real doosan controller, you must execute emulator before run dsr_launcer.

arguments

host:= ROBOT_IP deflaut = 127.0.0.1 ##controller IP = 192.168.137.100 port:= ROBOT_PORT default = 12345
mode:= OPERATION MODE <virtual / real> deflaut = virtual
model:= ROBOT_MODEL <m0609 / m0617 / m1013 / m1509 / a0509 / e0509> deflaut = m1013
color:= ROBOT_COLOR <white / blue> deflaut = white
gripper:= USE_GRIPPER <none / robotiq_2f> deflaut = none
mobile:= USE_MOBILE <none / husky> deflaut = none rviz:= USE Rviz <true / false > deflaut = true

roslaunch dsr_launcher single_robot_rviz.launch host:=127.0.0.1 port:=12345 mode:=virtual model:=m1013 color:=blue gripper:=none mobile:=none
roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.137.100
roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky

---

dsr_example

single robot

<launch>
  - single robot in rviz : 
  roslaunch dsr_launcher single_robot_rviz.launch model:=m1013 color:=white
  - single robot in gazebo : 
  roslaunch dsr_launcher single_robot_gazebo.launch model:=m1013 color:=blue
  - single robot in rviz + gazebo : 
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
<run application node>
  rosrun dsr_example_py single_robot_simple.py dsr01 m1013
<ex>
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
  rosrun dsr_example_py single_robot_simple.py

$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch

$ rosrun dsr_example_py single_robot_simple.py

Multi Robot Usage

  // We need to specify controller's ip and port.
  // Additionally, we also need to specify namespace to distinguish ROS Graph constructing each robot
  // Note: moveit does not support namespace feature in ros1, 'dsr_moveit.launcher' and 'dsr_moveit_gazebo.launcher' don't support multi robot usage.
  roslaunch dsr_launcher single_robot.launch ns:=${NAMESPACE} ip:=${CONTROLLER_IP} port:=${CONTROLLER_PORT}

  <example>
  roslaunch gazebo_ros empty_world.launch world:=empty.world
  roslaunch dsr_launcher single_robot.launch ns:=dsr01 mode:=virtual port:=127.0.0.1 port:=12345 x:=0 y:=0 // also specify location to distinguish in gazebo.
  roslaunch dsr_launcher single_robot.launch ns:=dsr02 mode:=virtual port:=127.0.0.1 port:=12346 x:=1 y:=1

gazebo+rviz+virtual

roslaunch dsr_launcher single_robot_rviz_gazebo.launch
rosrun dsr_example_py single_robot_simple.py

  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr01"/> # Robot ID
    <arg name="model" value="m1013"/> # Robot Model
    <arg name="host" value="192.168.137.100"/> # Robot IP
    <arg name="port" value="12345"/> # Robot Port
    <arg name="mode" value="virtual"/> # Robot Controller Mode 
    # Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>
  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr02"/> # Secondary Robot ID
    <arg name="model" value="m1013"/> # Secondary Robot Model
    <arg name="host" value="192.168.137.102"/> # Secondary Robot IP
    <arg name="port" value="12346"/> # Robot Port
    <arg name="mode" value="virtual"/> # Secondary Robot Controller Mode
    # Secondary Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>

Service Call

rosservice call /dsr01m1013/motion/move_joint "pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
vel: 0.0
acc: 0.0
time: 0.0
radius: 0.0
mode: 0
blendType: 0
syncType: 0"

---

manuals

Manual(Kor)

Manual(Eng)