mercury_ros

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Control or simulate Mercury series robots in ROS.

Notes:

• Supported ROS versions:
  • Ubuntu 20.04 / ROS Noetic

Installation

Local

1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

Before installing the package, you need to create a ros workspace.

mkdir -p ~/catkin_ws/src  # Create folder
cd ~/catkin_ws/src        # Enter the folder
catkin_init_workspace     # Initialize the current directory into a ROS workspace
cd ..                     # Return to the upper directory
catkin_make               # Build the code in the workspace.

Add a workspace environment

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

2 Package Download and Install

Install ros package in your src folder of your Catkin workspace.

$ cd ~/catkin_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mercury_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash

Run

Here we take Mercury A1 as an example

1 test

roslaunch merury_a1 test.launch

2 slider control

roslaunch mercury_a1 slider_control.launch

rosrun mercury_a1 slider_control.py

3 model follow

rosrun mercury_a1 follow_display.py

roslaunch mercury_a1 mercury_follow.launch

4 GUI control

roslaunch mercury_a1 simple_gui.launch

5 keyboard control

roslaunch mercury_a1 teleop_keyboard.launch

rosrun mercury_a1 teleop_keyboard.py

5 Moveit control

roslaunch mercury_a1_moveit mercury_a1.launch

rosrun mercury_a1_moveit sync_plan.py

URDF Model Graph

Mercury A1

Mercury B1

Where to get help

There is documentation in the ElephantRobotics Docs. Please check the ROS chapter.

Important Links & Docs

• User Guide