Demo (ROS):

Demo of the Robotic Arm Motion Control API_Control_Arm_Move_Demo

1. Project introduction

This project is designed to execute the MoveJ, MoveJ_P, MoveL, and MoveC functions based on RM65 and RM75 robotic arms and ROS packages. The program will execute the MoveJ (joint motion), MoveJ_P (pose motion), MoveL (linear motion), and MoveC (circular motion) commands successively, and relevant prompts will appear on the terminal at the start and end of the motion. 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
│   └── rm_65_move_demo.launch      <-Launch file (RM65)
    └── rm_75_move_demo.launch      <-Launch file (RM75)
├── LICENSE                           <-Version description
├── package.xml                       <-Dependency folder
├── README.md                         <-Readme
└── src                               <-C++ source code folder
    └── api_move_demo.cpp             <-Source code file

3. Project download

Download the project file locally via the following project link: API_CONTROL_ARM_MOVE_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. Quick start

• Launch file modification:

  <arg name="Arm_Dof"                  default="7"/>     <!--DoF setting of the robotic arm-->

  This parameter represents the number of joints and degrees of freedom of the robotic arm. If the robotic arm has 6 joints such as RM65, RML63, and ECO65, the default should be changed to 6; and if the robotic arm has 7 joints such as RM75, the default should be changed to 7.

• 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

  Robotic arms of different configurations reach different points and poses, and RM65 and RM75 are respectively adapted for points here. The <arm_type> is optional for RM65, RM75, and others according to the actual device used. Then, launch the control_arm_move package of the robotic arm in another terminal. Execute the following command for the RM65 robotic arm:

  roslaunch control_arm_move rm_65_move_demo.launch

  Execute the following command for the RM75 robotic arm:

  roslaunch control_arm_move rm_75_move_demo.launch

  TIP

  If it is not RM65 or RM75, the robotic arm may not reach the point, which is a normal phenomenon.

• Return information:

  The following prompts will appear when the program runs successfully.

  [ INFO] [1722565910.866307974]: *******arm_dof = 7           //The current DoF of the robotic arm will be printed here
  [ INFO] [1722565912.871168796]: *******Plan MoveJ Start      //Prompt for the start of MoveJ
  [ INFO] [1722565915.832463777]: *******Plan MoveJ State OK   //Prompt for the end of MoveJ
  [ INFO] [1722565916.832557775]: *******Plan MoveJ_P Start    //Prompt for the start of MoveJ_P
  [ INFO] [1722565920.192072186]: *******Plan MoveJ_P State OK //Prompt for the end of MoveJ_P
  [ INFO] [1722565921.192211738]: *******Plan MoveL Start      //Prompt for the start of MoveL
  [ INFO] [1722565922.018137911]: *******Plan MoveL State OK   //Prompt for the end of MoveL
  [ INFO] [1722565922.192413396]: *******Plan MoveC Start      //Prompt for the start of MoveC
  [ INFO] [1722565945.932390913]: *******Plan MoveC State OK   //Prompt for the end of MoveC

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

  Create the publisher for the MoveJ space planning command

  ros::Publisher moveJ_pub = nh.advertise<rm_msgs::MoveJ>("/rm_driver/MoveJ_Cmd", 10);

  Create the publisher for the MoveJ_P space planning command

  ros::Publisher moveJ_P_pub = nh.advertise<rm_msgs::MoveJ_P>("/rm_driver/MoveJ_P_Cmd", 10);

  Create the publisher for the MoveL space planning command

  ros::Publisher moveL_pub = nh.advertise<rm_msgs::MoveL>("/rm_driver/MoveL_Cmd", 10);

  Create the publisher for the MoveC space planning command

  ros::Publisher moveC_pub = nh.advertise<rm_msgs::MoveC>("/rm_driver/MoveC_Cmd", 10);

  Execution state subscriber of the robotic arm

  ros::Subscriber planState_sub = nh.subscribe("/rm_driver/Plan_State", 10, planStateCallback);

• Callback function

  After receiving the subscribed execution state of the robotic arm, execute the message callback function

  void planStateCallback(const rm_msgs::Plan_State::ConstPtr& msg)

• Publish the MoveJ command

  Publish the MoveJ command to move the robotic arm to a target pose.

  moveJ_pub.publish(moveJ_BeginPose);

• Publish the MoveJ_P command

  Publish the MoveJ_P command to move the robotic arm to a target pose.

  moveJ_P_pub.publish(moveJ_P_TargetPose);

• Publish the MoveL command

  Publish the MoveL command to move the robotic arm to a target pose.

  moveL_pub.publish(moveL_TargetPose);

• Publish the MoveC command

  Publish the MoveC command to move the robotic arm to a target pose.

  moveC_pub.publish(moveC_TargetPose);