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Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
hardware:rb1_quickstart [2021/02/12 13:48] cedric.lb ↷ Page name changed from hardware:control to hardware:rb1_quickstart |
hardware:rb1_quickstart [2021/02/12 13:54] cedric.lb [From a remote computer] |
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# add the following line | # add the following line | ||
192.168.0.200 rb1 | 192.168.0.200 rb1 | ||
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Next, the computer's IP has to be added to the robot's own /etc/hosts. This step is necessary to control several ROS topics from a remote computer. | Next, the computer's IP has to be added to the robot's own /etc/hosts. This step is necessary to control several ROS topics from a remote computer. | ||
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user@remote:~$ ifconfig | user@remote:~$ ifconfig | ||
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Once you have obtained your IP adress (192.168.x.x), connect to the robot and add the name of your computer (equivalent of remote in the example above) to the /etc/hosts file. | Once you have obtained your IP adress (192.168.x.x), connect to the robot and add the name of your computer (equivalent of remote in the example above) to the /etc/hosts file. | ||
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# add the following line | # add the following line | ||
192.168.x.x name_of_computer | 192.168.x.x name_of_computer | ||
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Note: As a security measure, super user privileges were removed from the rb1 user. To access an account with the required permissions and edit the file, contact Panagiotis. | Note: As a security measure, super user privileges were removed from the rb1 user. To access an account with the required permissions and edit the file, contact Panagiotis. | ||
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user@remote:~$ rostopic list | user@remote:~$ rostopic list | ||
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If everything is working correctly, this will display the different topics from the rb1 robot. | If everything is working correctly, this will display the different topics from the rb1 robot. | ||
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user@remote:~$ scp -r rb1@rb1:~/catkin_ws/src/* ~/catkin_rb1_ws/src/ | user@remote:~$ scp -r rb1@rb1:~/catkin_ws/src/* ~/catkin_rb1_ws/src/ | ||
user@remote:~$ cd ~/catkin_rb1_ws | user@remote:~$ cd ~/catkin_rb1_ws | ||
- | user@remote:~catkin_rb1_ws/$ catkin_make | + | user@remote:~/catkin_rb1_ws$ catkin_make |
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Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue. | Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue. | ||
Rviz and move it can now be started to control the robot: | Rviz and move it can now be started to control the robot: | ||
- | user@remote:~catkin_rb1_ws/$ source devel/setup.bash | + | user@remote:~/catkin_rb1_ws$ source devel/setup.bash |
- | user@remote:~catkin_rb1_ws/$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch | + | user@remote:~/catkin_rb1_ws$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch |
===== Controlling the kinova-arm only ===== | ===== Controlling the kinova-arm only ===== | ||
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user@remote:~$ mkdir -p ~/catkin_kinova/src | user@remote:~$ mkdir -p ~/catkin_kinova/src | ||
user@remote:~$ cd catkin_kinova/src | user@remote:~$ cd catkin_kinova/src | ||
- | user@remote:~$ git clone https://github.com/Kinovarobotics/kinova-ros | + | user@remote:~/catkin_kinova/src$ git clone https://github.com/Kinovarobotics/kinova-ros |
- | user@remote:~$ catkin_make | + | user@remote:~/catkin_kinova/src$ catkin_make |
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Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable. | Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable. | ||
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user@remote:~$ cd ~/catkin_kinova | user@remote:~$ cd ~/catkin_kinova | ||
- | user@remote:~$ source devel/setup.bash | + | user@remote:~/catkin_kinova$ source devel/setup.bash |
- | user@remote:~$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300 | + | user@remote:~/catkin_kinova$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300 |
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This will start rviz and moveit and allow control of the arm. | This will start rviz and moveit and allow control of the arm. | ||
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user@remote:~$ rostopic list | user@remote:~$ rostopic list | ||
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If they are not visible, type 'export ROS_MASTER_URI=http://rb1:11311' and retry. | If they are not visible, type 'export ROS_MASTER_URI=http://rb1:11311' and retry. | ||