{"id":23043804,"url":"https://github.com/robincpc/nexgrc_experimental","last_synced_at":"2026-02-08T06:33:26.939Z","repository":{"id":75174204,"uuid":"175523748","full_name":"RobinCPC/nexgrc_experimental","owner":"RobinCPC","description":"Experimental ROS package for NexCOBOT 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nexgrc_experimental\n[![Build Status](https://travis-ci.org/RobinCPC/nexgrc_experimental.svg?branch=kinetic-devel)](https://travis-ci.org/RobinCPC/nexgrc_experimental)\nNexGRC Experimental\n\nnexgrc_clinet node provide ros service to talk with socket (and send command to GRC Controller)\n```\nnexgrc_clien/StringCommand\nstring command\nstring parameters\n---\nint32 error_code\nstring response\n```\n\n## How to Build [Kinetic]:\nGo to your ROS workspace directory, then\n``` bash\n# remove old compiled file (if exist) and rebuild\ncatkin clean\ncatkin build\nsource devel/setup.bash\n```\n\n## Usage:\n### Run with real Robot arm:\nCurrently, Only use `StringCommand` to communicate with GRC controller through tcpip.\n``` bash\n# After build, run the following command\nroslaunch nexgrc_client start.launch\n# Then, client node will wait for connecting NexGRC controller\n\n# run with rviz (will need to specified urdf file)\nroslaunch nexgrc_client start_rviz_demo.launch model:=`rospack find pmc6r_support`/urdf/pmc6r.urdf.xacro gui:=true\n```\n\nFor testing, open another terminal\n``` bash\n# Go to you ROS worksace, and source nexgrc_client package\nsource devel/setup.bash\n# ask robot to do ptp move.\nrosservice call /grc_telnet 'ptp' ' -35 130 -15 45 90 -115'\n# get joint position\nrosservice call /grc_telnet 'get joint position' ''\n# get flange frame\nrosservice call /grc_telnet 'get flange frame' ''\n# check if motion finish\nrosservice call /grc_telnet 'get state' ''\n# ask robot to stop while executing ptp command\nrosservice call /grc_telnet 'halt' ''\n```\n\n### Work with Gazebo and control with ros_control\nRun the following command in order.\n``` bash\n# To display in Gazebo Simulation.\nroslaunch pmc6r_gazebo pmc6r_world.launch\n# Connect with ros control\nroslaunch pmc6r_control pmc6r_control.launch\n# a function publish joint control message\nrosrun pmc6r_control simple_mover\n```\n\nNote: In GRC Controller socket server part.\n\nYou need to set Inbouad rule of port (such as 1688) for tcp connection (From `Windows Firewall` -\u003e `Advanced Setting`)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobincpc%2Fnexgrc_experimental","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frobincpc%2Fnexgrc_experimental","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frobincpc%2Fnexgrc_experimental/lists"}