https://github.com/otl/uarm
ROS tools for UArm by UFactory
https://github.com/otl/uarm
Last synced: 5 months ago
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ROS tools for UArm by UFactory
- Host: GitHub
- URL: https://github.com/otl/uarm
- Owner: OTL
- License: bsd-3-clause
- Created: 2014-05-25T10:36:51.000Z (about 12 years ago)
- Default Branch: master
- Last Pushed: 2014-06-15T13:27:56.000Z (about 12 years ago)
- Last Synced: 2025-04-09T21:52:14.967Z (over 1 year ago)
- Language: Arduino
- Size: 182 KB
- Stars: 4
- Watchers: 5
- Forks: 6
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
uarm ros package
=================
ROS tools for UArm by UFactory.
Dependency
--------------
- rosserial
- UF_uArm (arduino library)
Install
===============
0. Install arduino sdk from Arduino.cc[http://arduino.cc/en/Main/Software].
1. Install rosserial
```bash
$ sudo apt-get install ros-hydro-rosserial
```
3. checkout uarm(this!) and build
```bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/OTL/uarm.git
$ cd ~/catkin_ws
$ catkin_make
```
4. generate ros_lib (ros message file for arduino)
```bash
$ rosrun rosserial_arduino make_libraries.py ~/sketchbook/libraries
```
2. install UF_uArm arduino library
```bash
$ cd ~/sketchbook/libraries
$ git clone https://github.com/UFactory/UF_uArm.git
```
5. make a link to the sketch directory
```bash
$ ln -s ~/catkin_ws/src/uarm/uArmROS ~/sketchbook/
```
6. Start Arduino SDK, and install sketch, uArmROS
File -> Sketchbook -> uArmROS
Run
================
```bash
$ rosrun rosserial_python serial_node.py
$ rostopic list
```
Pub/Sub
=================
Publish
-----------
* /uarm/button/d4 (std_msgs/Bool): button state (D4)
* /uarm/button/d7 (std_msgs/Bool): button state (D7)
* /uarm/joint_states (sensor_msgs/JointState): TODO: raw joint AD value
Subscribe
-----------
* /uarm/joint_commands (uarm/Joints): move joints (unit looks [deg] and [mm])
* /uarm/gripper (std_msgs/Bool): true -> hold, false -> release (only tested for pump)