https://github.com/kentsai0319/techman_robot

techman robot driver for ROS
https://github.com/kentsai0319/techman_robot

Last synced: 29 days ago
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techman robot driver for ROS

• Host: GitHub
• URL: https://github.com/kentsai0319/techman_robot
• Owner: kentsai0319
• License: apache-2.0
• Created: 2016-09-05T02:29:25.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2021-03-16T09:51:08.000Z (over 3 years ago)
• Last Synced: 2024-08-03T18:22:10.395Z (4 months ago)
• Language: C++
• Size: 4.28 MB
• Stars: 26
• Watchers: 5
• Forks: 28
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-cobots - techman_robot

README

        
# Deprecated !

For driver using TMFlow, see https://github.com/TechmanRobotInc  

see also: [tmr_ros1_dev](https://github.com/kentsai0319/tmr_ros1_dev) and [tmrlib_dev](https://github.com/kentsai0319/tmrlib_dev)  

## techman_robot

A driver provides ROS support for techman robots. TM5_700 is available for ROS Indigo.  

## Overview

* Action interface on */joint\_trajectory\_action* for integration with __MoveIt__

* Publishes robot joint state on */joint\_states*

* Publishes TCP position on */tool\_position*

* Publishes TCP velocity on */tool\_velocity*

* Publishes TCP force on */wrench*

* Service call to set outputs on */tm\_driver/set\_io*

## Installation

First set up a catkin workspace (see [this tutorials](http://wiki.ros.org/catkin/Tutorials)).  

Then clone the repository into the src/ folder. It should look like  /path/to/your/catkin_workspace/src/techman_robot.  

Make sure to source the correct setup file according to your workspace hierarchy, then use ```catkin_make``` to compile.  

Note that this package depends on hardware_interface, and controller_manager.  

## Usage with Moveit

### test in simulation:

To bring up moveit environment in simulation mode, run:  

```roslaunch tm700_moveit_config tm700_moveit_planning_execution.launch```

### run with real robot:

set up networking:

1. Click on the network settings (double-arrow in the title bar) and select *Edit Connections*

2. Locate the new connection (mine was *Wired Connection 1*) and select *Edit*. Under the IPv4 tab, set:

    * address = 192.168.0.11 (or similar)

    * netmask = 255.255.255.0

3. Connect an ethernet cable and try to ping your connected robot:

    * ```ping 192.168.0.10```

To bring up moveit environment and connect to real robot, run:  

```roslaunch tm700_moveit_config tm700_moveit_planning_execution.launch sim:=False robot_ip:=192.168.0.10```

## Usage with Gazebo

To bring up the simulated robot in Gazebo, run:  

```roslaunch tm_gazebo tm700.launch```