Demo (ROS):

Demo of Getting the Robotic Arm State Get_Arm_State_Demo

1. Project introduction

This project is designed to get the current controller version, joint state, pose state, and 6-DoF force state of the robotic arm based on the robotic arm and ROS package. The program will execute the commands to get the controller version, robotic arm state, and 6-DoF force state successively, and the corresponding data will be printed in the terminal. Its purpose is to enable ROS developers to quickly master and flexibly use the robotic arm.

2. Code structure

├── CMakeLists.txt                    <-CMake build file
├── launch                            <-Launch folder
│   └── get_arm_state_demo.launch     <-Launch file
├── LICENSE                           <-Version description
├── package.xml                       <-Dependency folder
├── README.md                         <-Readme
└── src                               <-C++ source code folder
    └── api_Get_Arm_State_demo.cpp    <-Source code file

3. Project download

Download the project file locally via the following project link: GET_ARM_STATE_DEMO

4. Environment configuration

Item	Description
Operating system	Ubuntu18.04 or Ubuntu20.04
ROS version	melodic or noetic
Dependency	ROS1 package

Configuration procedures

1. Prepare the virtual machine or other devices equipped with the Ubuntu18.04 or Ubuntu20.04 operating system.

2. Install the ROS environment melodic or noetic.

3. ROS1 package installation Create a new workspace and src file, and copy the ROS1 file to the src file

   mkdir -p ~/workspace_ws/src

   Enter the workspace

   cd ~/workspace_ws

   Build the rm_msgs package

   catkin build rm_msgs

   Declare environment variables

   source ~/workspace_ws/devel/setup.bash

   Build all packages

   catkin build

   Declare environment variables again

   source ~/workspace_ws/devel/setup.bash

5. User guide

• Usage of command lines: Launch the following rm_driver package of the robotic arm in one terminal:

  roslaunch rm_driver rm_<arm_type>_driver.launch.

  The <arm_type> is optional for 65, 63, eco65, 75, gen72, and others according to the actual device used. Launch the following get_arm_state package of the robotic arm in another terminal:

  roslaunch get_arm_state get_arm_state_demo.launch

• Return information:

  The following prompts will appear when the program runs successfully.

  [ INFO] [1722825911.690500489]: *******Get Arm Software Version Pub show on the rm_driver node.*******       //Running prompt for getting the controller version
  [ INFO] [1722825911.699439368]: Product_version is GEN72-BI                                                  //Robotic arm model
  [ INFO] [1722825911.699802395]: Plan_version is 7b0156                                                       //Controller version, 7: DoF, b: non-6-DoF force, 156: controller version 1.5.6
  [ INFO] [1722825912.693324232]: *******Get Arm State Pub*******                                              //Running prompt for getting the robotic arm state
  [ INFO] [1722825912.704657425]: joint angle state is: [14.971000, -12.197000, 18.629000, -83.942001, -5.688000, -6.010000, 24.881001]  //Current angle of the robotic arm
  
  [ INFO] [1722825912.704842087]: pose Euler angle is: [0.242000, 0.174000, 0.536000, 3.078000, -0.254000, 0.139000]                     //Current pose (Euler angle) of the robotic arm
  
  [ INFO] [1722825912.705156723]: joint angle state is: [0.261244, -0.212838, 0.325076, -1.464788, -0.099256, -0.104875, 0.434173]       //Current radian of the robotic arm
  
  [ INFO] [1722825912.705307193]: pose Quaternion is: [0.242178, 0.174678, 0.536134, 0.989331, 0.064833, 0.128479, 0.022668]             //Current pose (quaternion) of the robotic arm
  
  [ INFO] [1722825913.693883637]: *******Get Arm Six Force Pub*******                                          //Running prompt for getting the 6-DoF force state of the robotic arm (if the 6-DoF force sensor is installed, the data will be printed below, otherwise no data will be printed)
  [ INFO] [1722825914.694311968]: *******All command is over please click ctrl+c end*******                    //Prompt for all commands completed

6. Key code description

The following are the main functions of the api_Get_Arm_State_demo.cpp:

• Initialization

  Initialize the relevant publication and subscription information

  Publisher for getting the current version of the robotic arm

  ros::Publisher test_Get_Arm_Software_Version_pub = nh.advertise<std_msgs::Empty>("/rm_driver/Get_Arm_Software_Version", 10);

  Publisher for getting the current state of the robotic arm

  ros::Publisher test_Get_Arm_Base_State_pub = nh.advertise<rm_msgs::GetArmState_Command>("/rm_driver/GetArmState_Cmd", 10);

  Publisher for getting the 6-DoF force state of the robotic arm

  ros::Publisher test_Get_Arm_Six_Force_pub = nh.advertise<std_msgs::Empty>("/rm_driver/GetSixForce_Cmd", 10);

  Version subscriber of the robotic arm

  ros::Subscriber Arm_Software_Version_sub = nh.subscribe("/rm_driver/Get_Arm_Software_Version_Result", 10, Get_Arm_Software_Version_Callback);

  Current state (angle + Euler angle) subscriber of the robotic arm

  ros::Subscriber Arm_Base_State_sub = nh.subscribe("/rm_driver/ArmCurrentState", 10, Get_Arm_State_Callback);

  Current state (radian + quaternion) subscriber of the robotic arm

  ros::Subscriber Arm_New_State_sub = nh.subscribe("/rm_driver/Arm_Current_State", 10, GetArmState_Callback);

  Subscriber for the original 6-DoF force state of the robotic arm

  ros::Subscriber GetSixForceState_sub = nh.subscribe("/rm_driver/GetSixForce", 10, Get_Six_Force_Callback);

  Subscriber for the 6-DoF force state in the sensor frame of the robotic arm

  ros::Subscriber SixZeroForceState_sub = nh.subscribe("/rm_driver/SixZeroForce", 10, Get_Six_Zero_Force_Callback);

  Subscriber for the sensor data in the work frame of the robotic arm

  ros::Subscriber WorkZeroForceState_sub = nh.subscribe("/rm_driver/WorkZeroForce", 10, Get_Work_Zero_Force_Callback);

  Subscriber for the sensor data in the tool frame of the robotic arm

  ros::Subscriber ToolZeroForceState_sub = nh.subscribe("/rm_driver/ToolZeroForce", 10, Get_Tool_Zero_Force_Callback);

• Callback function

  After receiving the version of the robotic arm, execute the message callback function

  void Get_Arm_Software_Version_Callback(const rm_msgs::Arm_Software_Version msg)

  After receiving the state of the robotic arm, execute the message callback function (angle + Euler angle)

  void GetArmState_Callback(const rm_msgs::Arm_Current_State msg)

  After receiving the state of the robotic arm, execute the message callback function (radian + quaternion)

  void Get_Arm_State_Callback(const rm_msgs::ArmState msg)

  After receiving the 6-DoF force state of the robotic arm, execute the message callback function (original data)

  void Get_Six_Force_Callback(const rm_msgs::Six_Force msg)

  After receiving the 6-DoF force state of the robotic arm, execute the message callback function (force data of the system)

  void Get_Six_Zero_Force_Callback(const rm_msgs::Six_Force msg)

  After receiving the 6-DoF force state of the robotic arm, execute the message callback function (force data of the work frame)

  void Get_Work_Zero_Force_Callback(const rm_msgs::Six_Force msg)

  After receiving the 6-DoF force state of the robotic arm, execute the message callback function (force data of the tool frame)

  void Get_Tool_Zero_Force_Callback(const rm_msgs::Six_Force msg)

• Publish a command to get the controller version

  Publish a command to get the controller version

  test_Get_Arm_Software_Version_pub.publish(empty_value);

• Publish a command to get the robotic arm state

  Publish a command to get the robotic arm state

  test_Get_Arm_Base_State_pub.publish(command);

• Publish a command to get the 6-DoF force state

  Publish a command to get the 6-DoF force state

  test_Get_Arm_Six_Force_pub.publish(empty_value);