diff --git a/mycobot_280_M5(2023)cn/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md b/mycobot_280_M5(2023)cn/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md new file mode 100644 index 0000000..18fdd28 --- /dev/null +++ b/mycobot_280_M5(2023)cn/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md @@ -0,0 +1,140 @@ +### 本地 1.操作流程 +#### 1.1 安装前提 + +要使用此包，需先安装[Python api](https://github.com/elephantrobotics/pymycobot.git)库。 + +```bash +pip install pymycobot --user +ros1 noetic +``` + +#### 1.2 包的下载与安装 + +下载包到你的ros工作空间中 + +```bash +$ cd ~/catkin_ws/src +$ git clone https://github.com/jiaweilong66/280m5_gripper_gazebo.git +$ cd ~/catkin_ws +$ catkin_make +$ source devel/setup.bash +``` +MyCobot_280_m5-Gazebo使用说明 +1. 滑块控制 +现已实现通过joint_state_publisher_gui的滑块控制机械臂模型在Gazebo中的位姿 +确认将真实的机械臂连接到电脑以后，查看机械臂连接的端口： + +```bash +ls /dev/tty* +/dev/ttyACM0 or /dev/ttyUSB0 +``` + +得到如下的输出结果： + +```bash +/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 +``` + +打开通信，给脚本添加执行权限 + +```bash +sudo chmod -R 777 /dev/ttyACM0 or sudo chmod -r 777 /dev/ttyUSB0 +sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/follow_display_gazebo.py +sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/slider_control_gazebo.py +sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/teleop_keyboard_gazebo.py +roscor +``` + +确认好端口后，打开一个终端输入以下命令，注意port改成上一步查询到的值 + +```bash +source devel/setup.bash +roslaunch 280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200 +``` + +接着打开另外一个终端，输入如下命令： + +```bash +source devel/setup.bash +rosrun 280m5_gazebo_gripper slider_control_gazebo.py _port:=/dev/ttyACM0 _baud:=115200 +``` + +同样记得把端口号修改成上一步查询到的端口号。如果运行成功将会看到如下的终端提示： + +```bash +('/dev/ttyACM0', 115200) +spin ... +``` + +此时便可通过操控joint_state_publisher_gui的滑块来操控Gazebo或者机械臂模型的位姿了。 + +2. Gazebo模型跟随 +通过如下的命令可以实现Gazebo中的模型跟随实际机械臂的运动而发生位姿的改变，首先运行launch文件： + +```bash +source devel/setup.bash +roslaunch 280m5_gazebo_gripper follower.launch _port:=/dev/ttyACM0 +``` + +如果程序运行成功，Gazebo界面将成功加载机械臂模型，机械臂模型的所有关节都处于原始位姿，即[0,0,0,0,0,0]. 此后我们打开第二个终端并运行： + +```bash +source devel/setup.bash +rosrun 280m5_gazebo_gripper follow_display_gazebo.py _port:=/dev/ttyACM0 _baud:=115200 +``` + +现在当我们操控实际机械臂的位姿，我们可以看到Gazebo中的机械臂也会跟着一起运动到相同的位姿。 + +3. 键盘控制 +我们还可以使用键盘输入的方式同时操控Gazebo中机械臂模型与实际机械臂的位姿，首先打开一个终端并输入： + +```bash +source devel/setup.bash +roslaunch 280m5_gazebo_gripper teleop_keyboard.launch _port:=/dev/ttyACM0 _baud:=115200 +``` + +同上一部分相同，我们会看到机械臂模型被加载到Gazebo中，并且所有关节都在初始的位姿上，紧接着我们打开另外一个终端并输入： + +```bash +source devel/setup.bash +rosrun 280m5_gazebo_gripper teleop_keyboard_gazebo.py _port:=/dev/ttyACM0 _baud:=115200 +``` + +如果运行成功，我们将在终端看到如下的输出信息： + +```shell +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 +``` + +根据上面的提示我们可以知道如何操控机械臂运动了，这里我设置每点击一下机械臂与Gazebo中的机械臂模型会运动1角度，可以尝试长按上述键位中的其中一个键来到达某一位姿。 diff --git a/mycobot_280_M5(2023)cn/README.md b/mycobot_280_M5(2023)cn/README.md index eff9d69..5c253f2 100644 --- a/mycobot_280_M5(2023)cn/README.md +++ b/mycobot_280_M5(2023)cn/README.md @@ -73,7 +73,8 @@ * [6.2.1 ROS1环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.2-EnvironmentBuilding.md) * [6.2.2 ROS1基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md) * [6.2.3 rivz介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md) - * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.5 Gazebo介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md) * [6.3 基于ROS2 开发使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md) * [6.3.1 ROS2环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md) * [6.3.2 ROS2基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md) diff --git a/mycobot_280_M5(2023)cn/SUMMARY.md b/mycobot_280_M5(2023)cn/SUMMARY.md index 25d9c8e..23c9f3b 100644 --- a/mycobot_280_M5(2023)cn/SUMMARY.md +++ b/mycobot_280_M5(2023)cn/SUMMARY.md @@ -41,7 +41,8 @@ * [6.2.1 ROS1环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.2-EnvironmentBuilding.md) * [6.2.2 ROS1基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md) * [6.2.3 rivz介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md) - * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.5 Gazebo介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md) * [6.3 基于ROS2 开发使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md) * [6.3.1 ROS2环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md) * [6.3.2 ROS2基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md) @@ -119,4 +120,4 @@ * [灵巧手](4-SupportAndService/Accessories/Robothand.md) * [USB相机](4-SupportAndService/Accessories/USBcamera.md) * [春笋法兰](4-SupportAndService/Accessories/bamboo.md) - * [致谢](5-Acknowledgments/5-Acknowledgments.md) \ No newline at end of file + * [致谢](5-Acknowledgments/5-Acknowledgments.md) diff --git a/mycobot_280_M5(2023)en/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md b/mycobot_280_M5(2023)en/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md new file mode 100644 index 0000000..1423cc7 --- /dev/null +++ b/mycobot_280_M5(2023)en/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md @@ -0,0 +1,159 @@ +### Local 1. Operation Process +#### 1.1 Installation Prerequisites + +To use this package, you need to install the [Python API](https://github.com/elephantrobotics/pymycobot.git) library first. + +```bash +pip install pymycobot --user +ros1 noetic +``` + + +#### 1.2 Package Download and Installation + +Download the package into your ROS workspace. + +```bash +$ cd ~/catkin_ws/src +$ git clone https://github.com/jiaweilong66/280m5_gripper_gazebo.git +$ cd ~/catkin_ws +$ catkin_make +$ source devel/setup.bash +``` + + +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: + +```bash +ls /dev/tty* +/dev/ttyACM0 or /dev/ttyUSB0 +``` + +The following output results are obtained: + +```bash +/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 + +```bash +sudo chmod -R 777 /dev/ttyACM0 or sudo chmod -r 777 /dev/ttyUSB0 +sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/follow_display_gazebo.py +sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/slider_control_gazebo.py +sudo chmod -R 777 280m5_gripper_gazebo/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. + +```bash +source devel/setup.bash +roslaunch 280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200 +``` + + +Then open another terminal and enter the following command: + +```bash +source devel/setup.bash +rosrun 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: + +```bash +('/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: + +```bash +source devel/setup.bash +roslaunch 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: + +```bash +source devel/setup.bash +rosrun 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: + +```bash +source devel/setup.bash +roslaunch 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: + +```bash +source devel/setup.bash +rosrun 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: + +```shell +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`. + +Please go to [here](./READMECN.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: + +![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg) ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg) + +[MyCobot 280m5gazebo中文操作](./READMECN.md) diff --git a/mycobot_280_M5(2023)en/README.md b/mycobot_280_M5(2023)en/README.md index f408f05..c90c8ca 100644 --- a/mycobot_280_M5(2023)en/README.md +++ b/mycobot_280_M5(2023)en/README.md @@ -74,6 +74,7 @@ Document Directory * [6.2.2 ROS1 Basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md) * [6.2.3 rivz Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md) * [6.2.4 Moveit Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.5 GazeboIntroduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md) * [6.3 Development and use based on ROS2](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md) * [6.3.1 ROS2 environment construction](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md) * [6.3.2 ROS2 basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md) diff --git a/mycobot_280_M5(2023)en/SUMMARY.md b/mycobot_280_M5(2023)en/SUMMARY.md index 462b779..f8b76e4 100644 --- a/mycobot_280_M5(2023)en/SUMMARY.md +++ b/mycobot_280_M5(2023)en/SUMMARY.md @@ -42,6 +42,7 @@ * [6.2.2 ROS1 Basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md) * [6.2.3 rivz Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md) * [6.2.4 Moveit Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) + * [6.2.5 GazeboIntroduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md) * [6.3 Development and use based on ROS2](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md) * [6.3.1 ROS2 environment construction](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md) * [6.3.2 ROS2 basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md)