遨博机械臂ros功能包

# AUBO Robot **Maintainer: [email protected]** * Aubo_robot [ROS](http://www.ros.org/) meta-package for [ROS-Industrial](http://wiki.ros.org/Industrial). See the [ROS wiki](http://wiki.ros.org/) page for more information. * This repository provides ROS support for [AUBO robots](https://aubo-robotics.com/en/). This repository holds source code for `kinetic`. The corresponding robot controller software version is `V4`. For those software version < `V4`, can refer to [here]( http://wiki.ros.org/aubo_robot). ### Installation from Source --- For the latest features and developments you might want to install from source.<br> 1. First set up a catkin workspace (see this [tutorials](http://wiki.ros.org/catkin/Tutorials)).<br> 2. Then clone the repository into the `src/` folder. It should look like `/user_name/catkin_workspace/src/aubo_robot`.<br> 3. In order to compile the package successfully, you need to install some packages related to `MoveIt` and `industrial_core`package.<br> 4. Make sure to source the correct setup file according to your workspace hierarchy, then use **catkin_make** to compile.<br> 5. update Moveit_core_lib : enter the direction `/user_name/catkin_workspace/src/aubo_robot/UpdateMoveitLib/Kinetic/`,Add permissions to the Update.sh file`chmod +x Update.sh` , Execution script file `sudo ./Update.sh` The `recommended` gcc version is 4.8 for Ubuntu 14.04; And for Ubuntu 16.04, the gcc version is 5.4. ### Contents ---- * The repository contains packages may be unstable, and they will be migrated to the [ROS-I](https://github.com/ros-industrial) repository after sufficient testing.<br> * The contents of these packages are subject to change, without prior notice.<br> * Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional. ### MoveIt! with a simulated robot --- You can use MoveIt! to control the simulated robot like ***RVIZ*** ,***Gazebo*** or ***VREP*** environment. If you want to simulate the robot in RVIZ: * First set up the MoveIt nodes to allow motion planning and run: **rviz** ``` 1.roslaunch <robot_name>_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1 ``` **gazebo** ``` 2.roslaunch aubo_gazebo aubo_<robot_name>_gazebo_control.launch ``` **you should install some package when you use aubo model in gazebo** [here](https://github.com/lg609/aubo_robot/blob/master/aubo_gazebo/README.md) * Then select `"Interact"` and move the end-effector to a new goal. * In `"Motion Planning"` -> `"Plan and Execute"` to send trajectory to the sim robot * Exit RViz and Ctrl-C the demo.launch window ### Usage with real robot --- ```diff + When operating an AUBO robot under ROS-Industrial control, make certain that no one is within the robot workspace and the e-stop is under operator control. ``` * Source the correct setup shell files and use a new terminal for each command. * To bring up the real robot, run: ``` roslaunch <robot_name>_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<192.168.***.***> ``` * Move the robot around manually using a teach-pendant. Make sure the robot is controlled by robot-controller, see [here](https://github.com/lg609/aubo_robot/tree/master/aubo_driver). * Verify that the joint positions in RVIZ match the physical robot configuration. * Then switch to the ros-controller and control the robot through MoveIt. * Repeat for every joint and pose. **CAUTION:<br> Mistakes made during this verification step can result in dangerous collisions when experiment with using the MoveIt planning environment to command trajectories with the real robot. Be certain that an E-stop is close by whenever commanding robot motion.**