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jaguar:base-control [2020/05/06 12:53] a18mitri [How to use] |
jaguar:base-control [2020/05/06 12:55] (current) a18mitri [External links] |
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| Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | ||
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| ROS Kinetic | ROS Kinetic | ||
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| Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | ||
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| operator detail information of the surrounding. Besides the ready to use control and navigation software, a full | operator detail information of the surrounding. Besides the ready to use control and navigation software, a full | ||
| development kit including SDK, data protocol and sample codes, is also available. | development kit including SDK, data protocol and sample codes, is also available. | ||
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| The robotic arm is light on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with maximum reach of over 707mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg. Wrist mounted color | The robotic arm is light on weight, low on power consumption and compact on size. It has 3 DOF + 1 DOF gripper, with maximum reach of over 707mm (28 in), max payload capacity of 4Kg at max reach, while weights under 10Kg. Wrist mounted color | ||
| video camera provides high resolution (720 x 480) close-up view. Jaguar Arm is ideal for object inspection and | video camera provides high resolution (720 x 480) close-up view. Jaguar Arm is ideal for object inspection and | ||
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| Turn the main switch to "ON" position. | Turn the main switch to "ON" position. | ||
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| Press and hold the start button for about 1 second, then release. | Press and hold the start button for about 1 second, then release. | ||
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| To power off the robot, turn the main switch to "OFF" position, the system will shut down. | To power off the robot, turn the main switch to "OFF" position, the system will shut down. | ||
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| After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | ||
| connect with this network with key “drrobotdrrobot”. | connect with this network with key “drrobotdrrobot”. | ||
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| After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | ||
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| Launch roscore. | Launch roscore. | ||
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| Launch base control node: | Launch base control node: | ||
| rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | ||
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| Launch arm control node: | Launch arm control node: | ||
| rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | ||
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| http://wiki.ros.org/Robots/Jaguar | http://wiki.ros.org/Robots/Jaguar | ||
| + | ROS drrobot packages: | ||
| + | https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485 | ||