Demo (ROS2):

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.py         <-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: ros2_rm_robot

4. Environment configuration

Item	Description
Operating system	Ubuntu20.04
ROS version	foxy
Dependency	ROS2-foxy package of the robotic arm

Configuration procedures

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

2. Install the ROS2 environment foxy, or refer to the installation instructions in the ROS2-foxy package for details.

3. ROS2-foxy package installation

   Create a new workspace and src folder

   mkdir -p ~/ros2_ws/src

   Copy the ROS2 file to the src folder

   cp -r ros2_rm_robot ~/ros2_ws/src

   Enter the workspace

   cd ~/ros2_ws

   Build the rm_ros_interfaces package

   colcon build --packages-select rm_ros_interfaces

   Declare environment variables

   source ./install/setup.bash

   Build all packages

   colcon build

   Declare environment variables again

   source ./install/setup.bash

5. User guide

• Usage of command lines:

  Launch the following rm_driver package of the robotic arm in one terminal:

  ros2 launch rm_driver rm_<arm_type>_driver.launch.py

  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:

  ros2 launch get_arm_state get_arm_state_demo.launch.py

• Return information:

  The following prompts will appear when the program runs successfully.

  [rm_get_arm_state_demo-1] [INFO] [1722912567.024745517] [get_state]: joint state is: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]       //Angle of the robotic arm
  [rm_get_arm_state_demo-1] 
  [rm_get_arm_state_demo-1] [INFO] [1722912567.024994866] [get_state]: pose state is: [0.000000, 0.000000, 0.534000, 3.141000, 0.000000, 0.000000]                //Pose (Euler angle) of the robotic arm
  [rm_get_arm_state_demo-1] 
  [rm_get_arm_state_demo-1] [INFO] [1722912567.025200125] [get_state]: joint state is: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]      //Radian of the robotic arm
  [rm_get_arm_state_demo-1] 
  [rm_get_arm_state_demo-1] [INFO] [1722912567.025321800] [get_state]: pose state is:   //Pose (quaternion) of the robotic arm
  [rm_get_arm_state_demo-1] [position.x = 0.000000,
  [rm_get_arm_state_demo-1]  position.y = 0.000000,
  [rm_get_arm_state_demo-1]  position.z = 0.534000,
  [rm_get_arm_state_demo-1]  orientation.x = 1.000000,
  [rm_get_arm_state_demo-1]  orientation.y = 0.000000,
  [rm_get_arm_state_demo-1]  orientation.z = 0.000000,
  [rm_get_arm_state_demo-1]  orientation.w = 0.000296]
  [rm_get_arm_state_demo-1] 
  [rm_get_arm_state_demo-1] [INFO] [1722912567.025408782] [get_state]: Planversion is 7B0156       //Controller version (7: DoF, b: non-6-DoF force, 156: controller version 1.5.6)
  [rm_get_arm_state_demo-1]  
  [rm_get_arm_state_demo-1] [INFO] [1722912567.025463071] [get_state]: Productversion is GEN72-BI  //Model of the robotic arm

6. Key code description

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

• Initialization

  Joint state publisher of the robotic arm

  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr arm_state_publisher_;

  Software version publisher of the robotic arm

  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr arm_software_version_publisher_;

  6-DoF force state publisher of the robotic arm

  rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr get_force_data_publisher_;

  Initial joint state subscriber

  rclcpp::Subscription<rm_ros_interfaces::msg::Armoriginalstate>::SharedPtr subscription_original_state;

  Joint state subscriber

  rclcpp::Subscription<rm_ros_interfaces::msg::Armstate>::SharedPtr subscription_arm_state;

  Controller version subscriber

  rclcpp::Subscription<rm_ros_interfaces::msg::Armsoftversion>::SharedPtr subscription_software_version;

  State subscriber of the 6-DoF force sensor

  rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_force_data;

  Force state subscriber of the 6-DoF force system

  rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_zero_force_data;

  Force state subscriber of the 6-DoF force work frame

  rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_work_force_data;

  Force state subscriber of the 6-DoF force tool frame

  rclcpp::Subscription<rm_ros_interfaces::msg::Sixforce>::SharedPtr subscription_tool_force_data;

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

  Work frame change function

  void get_arm_state();

  Result callback function of the original robotic arm state

  void GetArmOriginalState_Callback(const rm_ros_interfaces::msg::Armoriginalstate::SharedPtr msg);

  Result callback function of the robotic arm state

  void GetArmState_Callback(const rm_ros_interfaces::msg::Armstate::SharedPtr msg);

  Result callback function of the controller version

  void GetArmSoftwareVersion_Callback(const rm_ros_interfaces::msg::Armsoftversion::SharedPtr msg);

  Result callback function of the 6-DoF force sensor

  void ForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);

  Result callback function of the 6-DoF force system

  void ZeroForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);

  Result callback function of the 6-DoF force work frame

  void WorkForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);

  Result callback function of the 6-DoF force tool frame

  void ToolForceData_Callback(const rm_ros_interfaces::msg::Sixforce::SharedPtr msg);