![]() ![]() Use rostopic echo / to view the data on in your terminal Use rostopic list and search for these topics to check if they are currently running Change "Joint1, Joint2, etc." to the number of steps you want each joint to move.rostopic pub joint_steps moveo_moveit/ArmJointState./gripper_angle: current angle of the gripper./joint_steps_feedback: same as /joint_steps, except published back by arduino to check that information is being received by Arduino correctly./joint_steps: steps necessary to move each motor to desired position.Also reads/outputs the current pose/position of the end effector.Īfter step 7, there should be 3 new topics created: ![]() Move_group_interface_coor_1.cpp: Can hardcode a pose/position for the end effector in the script and plan/execute a trajectory there. Joint_steps is an array of 6 Int16 values (though we only have 5 joints in this case) that represent the accumulated steps executed by each joint since the moveit_convert node has started running. Moveit_convert.cpp: Converts simulation 'joint_state' rotations (from the 'move_group/fake_controller_joint_states' topic) to steps and publishes on the /joint_steps topic. moveo_moveit_configĬonfiguration for moveit, a motion planning framework that has a plugin in RVIZ, which is what we are using here. ![]() Necessary for simulation in RVIZ and moveit configuration. About Directories moveo_urdfĬontains the URDF (Unified Robot Description File) for the BCN3D Moveo. Now, whatever trajectories are planned and executed in simulation are echoed on the real robot. rostopic pub gripper_angle std_msgs/UInt16 (publishes gripper_angle).rosrun moveo_moveit moveit_convert (converts simulation joint_state rotations to steps and publishes on the /joint_steps topic, which the Arduino script subscribes to).rosrun rosserial_python serial_node.py /dev/ttyUSB0(establishes rosserial node that communicates with Arduino).With the simulation already running, execute each of the following commands in it's own, separate terminal: (Note: if you don't already know these values, you can experimentally get how many microsteps/revolution your motors have using the MultiStepperTest.ino and recording/eyeballing the results) In 'moveit_convert.cpp' replace the stepsPerRevolution array with the steps/revolution (or microsteps/revolution) of each of your motors. ![]() Make sure the robot and the simulation are in the same position (to set the simulation upright initially- select "Upright" from "Select Goal States" in RVIZ. ROS makes you remove ros_lib and regenerate it every time you introduce a new custom message.Ĭhange the pin layout between your robot and the RAMPS 1.4 in 'moveo_moveit_arduino.ino' and upload the file to your Arduino (I'm using MEGA 2560).
0 Comments
Leave a Reply. |