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General

Robot - Linux computer general knowledge

General knowledge
  1. Source the terminal
(surce /opt/ros/noetic/setup.bash)
source interbotics_ws/devel/setup.bash

  1. Don't worry if you still don't see the topics after running rostopic list. Untill you don't roslaunch some packages you won't see them. Alos, don't worry about roscore, it will automaticaly run when you roslaunch.

  2. Play arround with the pakages at your disposal, get to kn ow them. Check this comand out: roscd → to see where a package is and rospack list

  3. github → interbotix_ros_manipulators → interbotix_ros_xsarms → interbotix_ros_xsarms_control → config → wx250s.yaml ⇒ config file to see joint order, names, sleep_position, groups (such as arm), etc…

First comands

  1. To have model loaded and play arround in RViz (play with model):

    • Use description package: roslaunch interbotix_xsarm_description xsarm_descriptions.launch robot_model:=wx250s use_joint_pub_gui:=true
      • note for better rviz visuals: RobotModel → alpha → set transparency to 0.5
      • note for better rviz visuals: TF → Frames → show/not show axes in joint

  2. To talk to the robot and move it in real world:

    • Use controll package: roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s
      • In the playground box, write wx250s under Robot Namespace (light becae green). Now you are connected to real robot
      • Important paramenters: use_sim → to simulate the robot moovments. It will be usefull later, when we will code and mouve the robot to test our code before breaking the robot!!!!!!!!
    Topics

    rostopic list

    Now you can see interesting topics. Such /wx250s/commands/joint_group (pub to a group of joint), /wx250s/commands/joint_single (pub to one joint), /wx250s/commands/joint_trajectory (pub joint trajectory message).

    • Publish to /wx250s/commands/joint_group:

      1. Home position:rostopic pub -1 /wx250s/comands/joint_group interbotix_ws_sdk/JointGroupComand “name: ‘arm’ cmd: [0,0,0,0,0,0]”
      • where name: ‘arm’is the arm_group (everithing eccept the gripper
      • where cmd: [0,0,0,0,0,0] are joint angles (→ rect position (home))
      1. Sleep position: rostopic pub -1 /wx250s/comands/joint_group interbotix_ws_sdk/JointGroupComand “name: ‘arm’ cmd: [<set_of_positions>]”
      • to find the <set of positions> go to github → interbotix_ros_manipulators → interbotix_ros_xsarms → interbotix_ros_xsarms_control → config → wx250s.yaml ⇒ config file to see joint order, names, sleep_position, groups (such as arm), etc…
    Services

    rosservice list

    Now you can see interesting services. Such /wx250s/get_robot_info (see infos about robot)and /wx250s/torque_enable (to enable or desable torque).

    1. rosservice call /wx250s/get_robot_info "cmd_type: 'group' name: 'arm'"
      • where cmd_type: 'group' says u want informations from a certain group of motors
      • where name: 'arm' says the group of motors u want to get infos ⇒ see mode, profile_type (velocity vs time), joint infos & joint limits, etc…
    2. rosservice call /wx250s/torque_enable "cmd_type: 'group' name: 'arm' enable: false"
      • when enable: false, the robot collapse. So hold it before running the comand
      • Usefull because you can turn off the torque, manualy move the robot in the desire position and turn on torque again (enable: true). At this point you can rostopic echo wx250s/joint_states to see informations about current desired position.


Robot+Raspberry Pi - Personal Computer general knowledge

Procedure

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