PROBOT Anno

This repository provides ROS support for PROBOT Anno.
This repo holds source code for ROS versions Kinetic and Melodic.

Wiki for PROBOT Anno Packages

• http://wiki.ros.org/Robots/PROBOT_Anno

Operating System Install

Operating system version is not less than Ubuntu linux 14.04, both supports 32bit and 64bit system. Ubuntu Linux download:http://www.ubuntu.com/download/

Please install git and clone repo before the following steps:

$ sudo apt-get install git
$ git clone https://github.com/ps-micro/PROBOT_Anno

Setup Environment

Choose one of the following ways to install.

Install With Script(Recommended)

1. Run PROBOT install.sh

PROBOT Setup Assistant[v1.0.0]
---- www.ps-micro.com ----

  0. Install ROS
  1. Install PROBOT dependent packages
  2. Install PROBOT packages
-------------------
  3. Install all environment
    
[Warn] The system version: Ubuntu 16.04.5 LTS
[Warn] The ROS version: kinetic

please choose [0~3]：

2. Choose '3' to install all environment(include 0，1,2).
3. Besides, you can choose 0~2 to install the separate step with own wishes.
4. If setup fails, please try again.

Install With Commands

1. Install ROS Desktop-Full with this tutorials

2. Install Dependant Packages:

    $ ROS_VERSION=`/usr/bin/rosversion -d`   
    $ sudo apt-get install ros-${ROS_VERSION}-moveit-*   
    $ sudo apt-get install ros-${ROS_VERSION}-industrial-*   
    $ sudo apt-get install ros-${ROS_VERSION}-gazebo-ros-control   
    $ sudo apt-get install ros-${ROS_VERSION}-ros-control ros-${ROS_VERSION}-ros-controllers   
    $ sudo apt-get install ros-${ROS_VERSION}-trac-ik-kinematics-plugin   
    $ sudo apt-get install ros-${ROS_VERSION}-usb-cam   

3. Install PROBOT Packages:

• Set up a catkin workspace (see this tutorials).
• Clone the repository into the src/ folder of workspace
• Use "catkin_make" to build workspace
• Copy probot_rviz_plugin/plugin/libprobot_rviz_plugin.so to 'WORKSPACE_PATH'/devel/lib
• Set up environment variables:

$ echo "source ~/'WORKSPACE_PATH'/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Install Librarys

1. Install OpenCV

MoveIt! with a simulated robot

You can use MoveIt! to control the simulated robot.

For setting up the MoveIt! to allow motion planning run:

$ roslaunch probot_bringup probot_anno_bringup.launch sim:=true

MoveIt! with Gazebo Simulation

There are launch files available to bringup a simulated robot.

To bring up the simulated robot in Gazebo and moveit, run:

$ roslaunch probot_anno_moveit_config demo_gazebo.launch

To bring up the grasping simulated demo, run:

$ roslaunch probot_grasping probot_anno_grasping_demo.launch

MoveIt! with real Hardware

There are launch files available to bringup a real robot(PROBOT Anno).

Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the real robot, then run:

$ roslaunch probot_bringup probot_anno_bringup.launch robot_ip:=192.168.2.123

You can use MoveIt! plugin to control the robot.

Additionally, a simple test script that moves the robot to predefined positions can be executed like this:

$ rosrun probot_demo probot_demo.py

CAUTION :
Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.