RealMan Robot

• Version V2.0.1
• This repository provides ROS support for RealMan robots. This repository holds source code for melodic、noetic.

Installation from Source

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For the latest features and developments you might want to install from source.

1. First set up a catkin workspace (see this tutorials).
   
2. Then clone the repository into the src/ folder. It should look like /user_name/catkin_workspace/src/rm_robot.
   
3. In order to compile the package successfully, you need to install some packages related to MoveItpackage.
   
4. Make sure to source the correct setup file according to your workspace hierarchy, then use catkin build to compile.
   

• You should compile rm_msgs first before compiling the source code:

catkin build rm_msgs
source ~/catkin_workspace/devel/setup.bash
catkin build
source ~/catkin_workspace/devel/setup.bash

Contents

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• The repository contains packages may be unstable.
  
• The contents of these packages are subject to change, without prior notice.
  
• Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.

MoveIt! with a simulated robot

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You can use MoveIt! to control the simulated robot like RVIZ ,Gazebo or VREP environment.

Use MoveIt in RVIZ to control the simulated robot in Gazebo:

• CAUTION: Before running, you need to modify rm_<arm_type>moveit_config/launch/rm<arm_type>_moveit_controller_manager.launch.xml and load controllers_gazebo.yaml.

roslaunch rm_gazebo arm_<arm_type>_bringup_moveit.launch

• Then select "Interact" and move the end-effector to a new goal.

• In "Motion Planning" -> "Plan and Execute" to send trajectory to the sim robot

• Exit RViz and Ctrl-C the Terminal window

Usage with real robot

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+  When you control the RealMan robot, make certain that no one is within the robot workspace and the e-stop is under operator control.

CAUTION:

• Before running, you need to modify rm_<arm_type>moveit_config/launch/rm<arm_type>_moveit_controller_manager.launch.xml and load controllers.yaml.
• Start the RM robot and ensure that the upper computer and the robot are on the same LAN.

Use a new terminal for each command.

• Start the rm_control node, run:

roslaunch rm_control rm_<arm_type>_control.launch

<arm_type> : 65、75、63、eco65

• Start the rm_driver and MoveIt!, run:

roslaunch rm_bringup rm_<arm_type>_robot.launch

<arm_type> : 65、65_6f、75、75_6f、63、63_6f、eco65、eco65_6f

• Select "Interact" in rviz and move the end-effector to a new goal.

• In "Motion Planning" -> "Plan and Execute" to send trajectory to the real robot

• More information in rm_doc/doc/睿尔曼机械臂ROS使用说明书V1.7.pdf

CAUTION:
Mistakes made during this verification step can result in dangerous collisions when experiment with using the MoveIt planning environment to command trajectories with the real robot. Be certain that an E-stop is close by whenever commanding robot motion.
All packages of rm_robot are licensed under the Apache 2.0 license.