ROS2:

Introduction to the Rm_bringup Package

rm_bringup is a function package for realizing the simultaneous running of multiple launch files. Using this package, a command can be used to launch complex functions combining multiple nodes. This package is introduced in detail in the following aspects.

The package will be introduced in detail from the following three aspects with different purposes:

• 1. Package application: Learn how to use the package.
• 2. Package structure description: Understand the composition and function of files in the package.
• 3. Package topic description: Know the topics of the package for easy development and use.

Code link: https://github.com/RealManRobot/ros2_rm_robot/tree/humble/rm_bringup

1. Application of the rm_bringup package

1.1 Unified Launch Entry

A unified launch file is supported, and the mode parameter switches between the real robotic arm and the Gazebo environment:

ros2 launch rm_bringup rm_bringup.launch.py arm_type:=65-6fb mode:=real
ros2 launch rm_bringup rm_bringup.launch.py arm_type:=65-6fb mode:=gazebo

How to choose arm_type

arm_type specifies both the robotic arm model and the end-effector structure. The model names in the table below also apply to Gazebo and to the separately launched model display package.

Series	3rd-generation real arm, model display and Gazebo	Recommended value for the real arm with 4th-generation controller software 1.0.6 or later	GLB model
RML63	63, 63-6fb	63, 63-6f	None
RML63 III	63_iii, 63_iii-6fb	63_iii, 63_iii-6f	None
RM65	65, 65-6fb	65, 65-6f	Available
RM75	75, 75-6fb	75, 75-6f	Available
ECO62	eco62	eco62	Available
ECO63	eco63, eco63-6fb	eco63, eco63-6f	Available
ECO65	eco65, eco65-6fb	eco65, eco65-6f	Available
GEN72	gen72	gen72	None
GEN72 II	gen72_ii	gen72_ii	None
RX75 dual arm	rx75-6fb, rx75-6fb-v	rx75-6f, rx75-6f-v	Available

Unified Entry Parameters

Parameter	Default	Description
arm_type	Required	See the table above. The end-effector suffix is required when launching the whole RX75; ECO62 only accepts the standard model.
mode/model	real/auto	mode can be real or gazebo; model can be auto, stl or glb
use_moveit/use_rviz	Both true	Use use_rviz:=false to only close the planning window. To disable MoveIt, pass use_moveit:=false use_rviz:=false at the same time
allow_trajectory_execution	true	When set to false, the MoveIt planning is retained while its trajectory execution is disabled
driver_config	auto	Path of the driver YAML configuration file for a single-arm real robotic arm.
left_driver_config/right_driver_config	Both auto	YAML paths of the RX75 left and right drivers, overriding respectively
follow	auto	Pass-through follow mode for the real robotic arm; auto defaults to low follow, and it can also be explicitly set to true or false.
joint_states_topic	auto	This entry only accepts auto, and the joint state topic is selected according to the mode and the robotic arm model
start_gazebo	true	Starts the simulation process in Gazebo mode.

1.2 Control of the real robotic arm with moveit2

After the environment configuration and connection are complete, the node can be started directly by the following command to run the launch.py file in the rm_bringup package.

TIP

Replace <arm_type> in the command with the actual robotic arm model during practical use.

• The command to start the standard version of the manipulator is(Supports 65, 63, 63_III, 75, eco63, eco65, and rx75):

  ros2 launch rm_bringup rm_<arm_type>_bringup.launch.py

• The command to start the six-axis force version of the manipulator is (Supports 63, 65, 75, and eco65):

  ros2 launch rm_bringup rm_<arm_type>_6f_bringup.launch.py

• The command to start the integrated six-axis force version of the manipulator is (Supports 63, 63_III, 65, 75, eco63, eco65 and rx75):

  ros2 launch rm_bringup rm_<arm_type>_6fb_bringup.launch.py

• Command to launch the 6-axis force version robotic arm with vision solution (currently only supports RX75):

  ros2 launch rm_bringup rm_<arm_type>_6fb_v_bringup.launch.py

For the 65 standard version robotic arm, its start command is as follows:

ros2 launch rm_bringup rm_65_bringup.launch.py

After the node is started successfully, the following screen will pop up.
The launch.py file enables the moveit2 to control the real robotic arm. Then, the control ball is available for planning and controlling the motion of the robotic arm. For details, please refer to rm_moveit2_config.

1.3 Control of the virtual robotic arm in the gazebo

The gazebo node can be started directly by running the launch.py file in the rm_bringup package.

TIP

Replace <arm_type> in the command with the actual robotic arm model during practical use.

• The command to start the standard version of the manipulator is (Supports 65, 63, 63_III, 75, eco63, eco65, and rx75):

  ros2 launch rm_bringup rm_<arm_type>_gazebo.launch.py

• The command to start the six-axis force version of the manipulator is (Supports 63, 65, 75, and eco65):

  ros2 launch rm_bringup rm_<arm_type>_6f_gazebo.launch.py

• The command to start the integrated six-axis force version of the manipulator is (Supports 63, 63_III, 65, 75, eco63, eco65, rx75):

  ros2 launch rm_bringup rm_<arm_type>_6fb_gazebo.launch.py

• Command to launch the 6-axis force version robotic arm with vision solution (currently only supports RX75):

  ros2 launch rm_description rm_<arm_type>_6fb_v_gazebo.launch.py

For the 65 standard version robotic arm, its start command is as follows:

ros2 launch rm_bringup rm_65_gazebo.launch.py

After the node is started successfully, the following screen will pop up.
Then, the following command is executed to start moveit2 to control the virtual robotic arm in the gazebo.

2. Structure description of the rm_bringup package

The current rm_bringup package consists of the following files.

├── CMakeLists.txt                        # Build configuration file
├── doc                                   # Folder for auxiliary documents and images
│   ├── rm_bringup1.png                   # Image 1
│   ├── rm_bringup2.png                   # Image 2
│   └── rm_bringup3.png                   # Image 3
├── launch                                # Launch files
│   ├── rm_63_6f_bringup.launch.py        # MoveIt2 launch file for 63 arm with 6-axis force
│   ├── rm_63_6f_gazebo.launch.py         # Gazebo launch file for 63 arm with 6-axis force
│   ├── rm_63_6fb_bringup.launch.py       # MoveIt2 launch file for 63 arm with integrated 6-axis force
│   ├── rm_63_6fb_gazebo.launch.py        # Gazebo launch file for 63 arm with integrated 6-axis force
│   ├── rm_63_bringup.launch.py           # MoveIt2 launch file for 63 arm
│   ├── rm_63_gazebo.launch.py            # Gazebo launch file for 63 arm
│   ├── rm_63_III_bringup.launch.py       # MoveIt2 launch file for 63_III arm
│   ├── rm_63_III_gazebo.launch.py        # Gazebo launch file for 63_III arm
│   ├── rm_63_III_6fb_bringup.launch.py   # MoveIt2 launch file for 63_III arm with 6-axis force
│   ├── rm_63_III_6fb_gazebo.launch.py    # Gazebo launch file for 63_III arm with 6-axis force
│   ├── rm_65_6f_bringup.launch.py        # MoveIt2 launch file for 65 arm with 6-axis force
│   ├── rm_65_6f_gazebo.launch.py         # Gazebo launch file for 65 arm with 6-axis force
│   ├── rm_65_6fb_bringup.launch.py       # MoveIt2 launch file for 65 arm with integrated 6-axis force
│   ├── rm_65_6fb_gazebo.launch.py        # Gazebo launch file for 65 arm with integrated 6-axis force
│   ├── rm_65_bringup.launch.py           # MoveIt2 launch file for 65 arm
│   ├── rm_65_gazebo.launch.py            # Gazebo launch file for 65 arm
│   ├── rm_75_6f_bringup.launch.py        # MoveIt2 launch file for 75 arm with 6-axis force
│   ├── rm_75_6f_gazebo.launch.py         # Gazebo launch file for 75 arm with 6-axis force
│   ├── rm_75_6fb_bringup.launch.py       # MoveIt2 launch file for 75 arm with integrated 6-axis force
│   ├── rm_75_6fb_gazebo.launch.py        # Gazebo launch file for 75 arm with integrated 6-axis force
│   ├── rm_75_bringup.launch.py           # MoveIt2 launch file for 75 arm
│   ├── rm_75_gazebo.launch.py            # Gazebo launch file for 75 arm
│   ├── rm_eco62_bringup.launch.py        # MoveIt2 launch file for eco62 arm
│   ├── rm_eco62_gazebo.launch.py         # Gazebo launch file for eco62 arm
│   ├── rm_eco63_6fb_bringup.launch.py    # MoveIt2 launch file for eco63 arm with integrated 6-axis force
│   ├── rm_eco63_6fb_gazebo.launch.py     # Gazebo launch file for eco63 arm with integrated 6-axis force
│   ├── rm_eco63_bringup.launch.py        # MoveIt2 launch file for eco63 arm
│   ├── rm_eco63_gazebo.launch.py         # Gazebo launch file for eco63 arm
│   ├── rm_eco65_6f_bringup.launch.py     # MoveIt2 launch file for eco65 arm with 6-axis force
│   ├── rm_eco65_6f_gazebo.launch.py      # Gazebo launch file for eco65 arm with 6-axis force
│   ├── rm_eco65_6fb_bringup.launch.py    # MoveIt2 launch file for eco65 arm with integrated 6-axis force
│   ├── rm_eco65_6fb_gazebo.launch.py     # Gazebo launch file for eco65 arm with integrated 6-axis force
│   ├── rm_eco65_bringup.launch.py        # MoveIt2 launch file for eco65 arm
│   ├── rm_eco65_gazebo.launch.py         # Gazebo launch file for eco65 arm
│   ├── rm_gen72_bringup.launch.py        # MoveIt2 launch file for gen72 arm
│   ├── rm_gen72_gazebo.launch.py         # Gazebo launch file for gen72 arm
│   ├── rm_gen72_II_bringup.launch.py     # MoveIt2 launch file for gen72_II arm
│   ├── rm_gen72_II_gazebo.launch.py      # Gazebo launch file for gen72_II arm
│   ├── rm_rx75_6fb_bringup.launch.py     # MoveIt2 launch file for RX75-6FB dual arm
│   ├── rm_rx75_6fb_gazebo.launch.py      # Gazebo launch file for RX75-6FB dual arm
│   ├── rm_rx75_6fb_v_bringup.launch.py   # MoveIt2 launch file for RX75-6FB-V dual arm with vision
│   └── rm_rx75_6fb_v_gazebo.launch.py    # Gazebo launch file for RX75-6FB-V dual arm with vision
├── package.xml                           # Dependency specification file
├── README_CN.md                          # Chinese documentation
└── README.md                             # English documentation

3. Topic description of the rm_bringup package

The package does not have any topics at present, but it calls the topic from other packages.