ISCI techman_robot ROS package

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

• Thes packages were orignially fork from kentsai0319, yhtsai

• Maintainer: Howard Chen, Yueh Chuan, Yu-Hsien Chang

• Environment: ubuntu14.04 ROS indigo

Overview

• Action interface on /follow_joint_trajectory for seamless 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).
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 obot_ip:=192.168.0.10

Usage with Gazebo

• To bring up the simulated robot in Gazebo, run:

roslaunch tm_gazebo tm700.launch

• To bring up the simulation in Gazebo with MoveIt-rviz

roslaunch tm_gazebo tm700_gazebo_moveit.launch

Control the robot in real world or Gazebo

rosrun tm700_test tm700_test

- Snapshot :