Demo (ROS2):

Demo of the Robotic Arm Motion 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 when the execution succeeds or fails. 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.launch.py               <-Launch file (RM65)
│   └── rm_75_move.launch.py               <-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: ros2_rm_robot

4. Environment configuration

Item	Description
Operating system	Ubuntu22.04
ROS version	humble
Dependency	ROS2-humble package of the robotic arm

Configuration procedures

1. Prepare the virtual machine or other devices equipped with the Ubuntu22.04 operating system.

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

3. ROS2-humble package installation

   Create a new workspace and src file

   mkdir -p ~/ros2_ws/src

   Copy the ROS2 file into the src file

   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. Execute the following launch commands for the RM65 robotic arm:

  ros2 launch control_arm_move rm_65_move.launch.py

  Execute the following launch commands for the RM75 robotic arm:

  ros2 launch control_arm_move rm_75_move.launch.py

  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.

  [move_demo-1] [INFO] [1722921182.157890965] [Move_demo_pub_node]: arm_dof is 7             //Prompt for the DoF of the current robotic arm
  [move_demo-1]
  [move_demo-1] [INFO] [1722921188.120872813] [Move_demo_sub_node]: *******Movej succeeded   //Prompt for the MoveJ succeeded
  [move_demo-1]
  [move_demo-1] [INFO] [1722921191.708291782] [Move_demo_sub_node]: *******Movej_p succeeded //Prompt for the MoveJ_P succeeded
  [move_demo-1]
  [move_demo-1] [INFO] [1722921193.977513811] [Move_demo_sub_node]: *******MoveL succeeded   //Prompt for the MoveL succeeded
  [move_demo-1]
  [move_demo-1] [INFO] [1722921194.075138936] [Move_demo_sub_node]: *******MoveC succeeded   //Prompt for the MoveC succeeded

6. Key code description

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

• Initialization

  Initialize the relevant publication and subscription information

  Publisher for MoveJ_P command

  rclcpp::Publisher<rm_ros_interfaces::msg::Movejp>::SharedPtr movej_p_publisher_;

  Publisher for MoveL command

  rclcpp::Publisher<rm_ros_interfaces::msg::Movel>::SharedPtr movel_publisher_;

  Publisher for MoveJ command

  rclcpp::Publisher<rm_ros_interfaces::msg::Movej>::SharedPtr movej_publisher_;

  Publisher for MoveC command

  rclcpp::Publisher<rm_ros_interfaces::msg::Movec>::SharedPtr movec_publisher_;

  Subscriber for MoveJ_P command

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr movej_p_subscription_;

  Subscriber for MoveL command

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr movel_subscription_;

  Subscriber for MoveJ command

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr movej_subscription_;

  Subscriber for MoveC command

  rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr movec_subscription_;

• Callback function

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

  Constructor function

  MoveDemoSub();

  MoveJ_P result callback function

  void MoveJPDemo_Callback(const std_msgs::msg::Bool::SharedPtr msg);

  MoveL result callback function

  void MoveJDemo_Callback(const std_msgs::msg::Bool::SharedPtr msg);

  MoveJ result callback function

  void MoveLDemo_Callback(const std_msgs::msg::Bool::SharedPtr msg);

  MoveC result callback function

  void MoveCDemo_Callback(const std_msgs::msg::Bool::SharedPtr msg);

• Publish the MoveJ command

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

  this->movej_publisher_->publish(movej_way);

• Publish the MoveJ_P command

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

  this->movej_p_publisher_->publish(moveJ_P_TargetPose);

• Publish the MoveL command

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

  this->movel_publisher_->publish(moveL_TargetPose);

• Publish the MoveC command

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

  this->movec_publisher_->publish(moveC_TargetPose);