mycobot_ros

中文文档 | English Documentation

Control or simulate myCobot series robots in ROS.

Notes:

• Make sure that Atom is flashed into the top Atom and Transponder or minirobot is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software

• Supported ROS versions:

  • Ubuntu 16.04 / ROS Kinetic
  • Ubuntu 18.04 / ROS Melodic
  • Ubuntu 20.04 / ROS Noetic

• The urdf model of a single gripper in this article is applicable to all machines that support this accessory.

Installation

Option 1: Docker

There are two ways to run this project. The first is by running the project in a container, and this requires installing docker and installing docker-compose. The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel is new enough.

Once docker is installed, run the following command, and the project should show up.

Without NVIDIA GPU:

ROS Noetic:

docker-compose build ros-noetic && xhost +local:root && docker-compose up ros-noetic

ROS Melodic:

docker-compose build ros && xhost +local:root && docker-compose up ros

With NVIDIA GPU

ROS Noetic:

docker-compose build nvidia-ros-noetic && xhost +local:root && docker-compose up nvidia-ros-noetic

ROS Melodic:

docker-compose build nvidia-ros && xhost +local:root && docker-compose up nvidia-ros

This command does three things:

1. docker-compose build ros

   This builds the project in a container. That means nothing is installed on your host machine! The first time this runs, this command will take a long while. After running it once, caching will allow this command to run quickly.

2. xhost +local:root

   This command gives X the ability to display GUI's from within the docker container

3. docker-compose up ros

   This runs the image specified in the docker-compose.yml, which by default runs the command roslaunch mycobot_320 mycobot_320_slider.launch within the container.

To run other tutorials, set the LAUNCH_TARGET environment variable. For example, to the run the MoveIt tutorial run:

export LAUNCH_TARGET=mycobot_320_moveit mycobot320_moveit.launch
docker-compose up ros

Option 2: Local

2.1 Pre-Requriements

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

pip install pymycobot --user

2.2 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/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ sudo echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

2.3 Test Python API

cd ~/catkin_ws/src/mycobot_ros
python test.py

Where to get help

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

Important Links & Docs

• User Guide

Contributing

Contributions are always welcome!

See CONTRIBUTING.md for ways to get started.

Please adhere to this project's code of conduct.

Screenshots

URDF Model Graph

mycobot 280 m5

mycobot 280 m5 gripper

mycobot 280 m5 pump

mycobot 280 m5 camera flange

mycobot 280 m5 camera flange & pump

mycobot 280 pi

mycobot 280 pi pump

mycobot 280 pi camera flange

mycobot 280 pi camera flange & pump

mycobot 280 JetsonNano

mycobot 280 JetsonNano Adaptive gripper

mycobot 280 JetsonNano Parallel gripper

mycobot 280 Arduino

mechArm 270 m5

mechArm 270 pi

myPalletizer 260 m5

myPalletizer 260 pi

mycobot 320 m5 2020

mycobot 320 m5 2022

mycobot 320 m5 2022 gripper

mycobot 320 m5 2022 force control gripper

mycobot 320 pi 2022

mycobot 320 pi 2022 gripper

mycobot 320 pi 2022 force control gripper

ultraArm P340

mycobot 280 pi aikit

mycobot 320 pi aikit

mybuddy

mycobot pro 600

myArm 300 Pi

mycobot pro 630

Single Gripper URDF Model Graph

This urdf model is applicable to all machines that support this accessory

mycobot Adaptive gripper

mycobot Parallel gripper

mycobot Pro Adaptive gripper - old version

mycobot Pro Adaptive gripper (new version - Added more details)

MyCobot_280_m5-Gazebo User Guide

1. Slider Control The control of the robot arm model's pose in Gazebo through the sliders of joint_state_publisher_gui has now been achieved. Moreover, the pose of the robot arm model in Gazebo and the real robot arm can be controlled simultaneously via the sliders. After confirming that the real robot arm is connected to the computer, check the port to which the robot arm is connected:

ls /dev/tty*
/dev/ttyACM0 or /dev/ttyUSB0

The following output results are obtained:

/dev/tty    /dev/tty26  /dev/tty44  /dev/tty62      /dev/ttyS20
/dev/tty0   /dev/tty27  /dev/tty45  /dev/tty63      /dev/ttyS21
/dev/tty1   /dev/tty28  /dev/tty46  /dev/tty7       /dev/ttyS22
/dev/tty10  /dev/tty29  /dev/tty47  /dev/tty8       /dev/ttyS23
/dev/tty11  /dev/tty3   /dev/tty48  /dev/tty9       /dev/ttyS24
/dev/tty12  /dev/tty30  /dev/tty49  /dev/ttyACM0   (/dev/ttyUSB0)
/dev/tty13  /dev/tty31  /dev/tty5   /dev/ttyprintk  /dev/ttyS26
/dev/tty14  /dev/tty32  /dev/tty50  /dev/ttyS0      /dev/ttyS27
/dev/tty15  /dev/tty33  /dev/tty51  /dev/ttyS1      /dev/ttyS28
/dev/tty16  /dev/tty34  /dev/tty52  /dev/ttyS10     /dev/ttyS29
/dev/tty17  /dev/tty35  /dev/tty53  /dev/ttyS11     /dev/ttyS3
/dev/tty18  /dev/tty36  /dev/tty54  /dev/ttyS12     /dev/ttyS30
/dev/tty19  /dev/tty37  /dev/tty55  /dev/ttyS13     /dev/ttyS31
/dev/tty2   /dev/tty38  /dev/tty56  /dev/ttyS14     /dev/ttyS4
/dev/tty20  /dev/tty39  /dev/tty57  /dev/ttyS15     /dev/ttyS5
/dev/tty21  /dev/tty4   /dev/tty58  /dev/ttyS16     /dev/ttyS6
/dev/tty22  /dev/tty40  /dev/tty59  /dev/ttyS17     /dev/ttyS7
/dev/tty23  /dev/tty41  /dev/tty6   /dev/ttyS18     /dev/ttyS8
/dev/tty24  /dev/tty42  /dev/tty60  /dev/ttyS19     /dev/ttyS9
/dev/tty25  /dev/tty43  /dev/tty61  /dev/ttyS2

Open communication and Chmod

sudo chmod -R 777 /dev/ttyACM0  or sudo chmod -r 777 /dev/ttyUSB0
sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/follow_display_gazebo.py
sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/slider_control_gazebo.py
sudo chmod -R 777 280m5_gripper_gazebo/mycobot_280m5_gazebo_gripper/scripts/teleop_keyboard_gazebo.py
roscore

After confirming the port, open a terminal and enter the following command. Note that you should replace "port" with the value you found in the previous step.

source devel/setup.bash
roslaunch mycobot_280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200

Then open another terminal and enter the following command:

source devel/setup.bash
rosrun mycobot_280m5_gazebo_gripper slider_control_gazebo.py _port:=/dev/ttyACM0 _baud:=115200

Also remember to modify the port number to the one queried in the previous step. If the operation is successful, you will see the following terminal prompt:

('/dev/ttyACM0', 115200)
spin ...

At this point, you can control the poses of both the mechanical arm model in Gazebo or the real mechanical arm simultaneously by manipulating the sliders in the joint_state_publisher_gui.

2. Gazebo Model Following The following command can be used to make the model in Gazebo change its pose in accordance with the movement of the actual robotic arm. First, run the launch file:

source devel/setup.bash
roslaunch mycobot_280m5_gazebo_gripper follower.launch _port:=/dev/ttyACM0

If the program runs successfully, the Gazebo interface will successfully load the robotic arm model, and all joints of the robotic arm model will be in the original pose, that is, [0, 0, 0, 0, 0, 0]. After that, we open the second terminal and run:

source devel/setup.bash
rosrun mycobot_280m5_gazebo_gripper follow_display_gazebo.py _port:=/dev/ttyACM0 _baud:=115200

Now when we control the pose of the actual robotic arm, we can see that the robotic arm in Gazebo will also move to the same pose together.

3. Keyboard Control We can also use keyboard input to simultaneously control the pose of the robotic arm model in Gazebo and the actual robotic arm. First, open a terminal and enter:

source devel/setup.bash
roslaunch mycobot_280m5_gazebo_gripper teleop_keyboard.launch _port:=/dev/ttyACM0 _baud:=115200

As in the previous part, we will see the robotic arm model loaded into Gazebo, and all joints are at their initial poses. Then we open another terminal and enter:

source devel/setup.bash
rosrun mycobot_280m5_gazebo_gripper teleop_keyboard_gazebo.py _port:=/dev/ttyACM0 _baud:=115200

If the operation is successful, we will see the following output information in the terminal:

Mycobot_280_m5_gripper Teleop Keyboard Controller
---------------------------
Movimg options (control the angle of each joint):
w: joint2_to_joint1++   s: joint2_to_joint1--
e: joint3_to_joint2++   d: joint3_to_joint2--
r: joint4_to_joint3++   f: joint4_to_joint3--
t: joint5_to_joint4++   g: joint5_to_joint4--
y: joint6_to_joint5++   h: joint6_to_joint5--
u: joint6output_to_joint6++ j: joint6output_to_joint6--
o:open gripper          p:close gripper
Other:
1 - Go to home pose
q - Quit

You can find out which interfaces pymycobot provides in README.md.

Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document:

MyCobot 280 m5 gazebo中文操作

Contributors

Thanks goes to these people (Emoji Key):

Alex Thiele 💻	Shinya Nishimoto 💻 📖	Takashi Ogura 💻	Ryuichiro Toyoshi 📖	Ryo Kabutan 🎨	Takafumi Watanabe 💻 📖	Yoshiaki Watanabe 💻
Masato Kobayashi 💻	Daisuke Sato 📖 💻	Eric Cousineau 💻	thandal 💻	nakano16180 📖	Akihiro Komori 💻	Jason Skowronski 💻
2929ss 💻	TAKASU Masakazu 📣	SAITO, Tetsuya 📣

This project follows the all-contributors specification. Contributions of any kind are welcome!

License

Licensed under standard three-clause BSD license (same as ROS Core), Copyright 2020-2023 Elephant Robotics. Copy of the license.