Schunk Arm Installation

Complementary packages

First it is necessary to install some additional packages to the ROS:

$ sudo apt-get install -y git ros-kinetic-libntcan ros-kinetic-libpcan ros-kinetic-controller-manager ros-kinetic-controller-manager-msgs ros-kinetic-joint-limits-interface ros-kinetic-cob-srvs ros-kinetic-cob-control-mode-adapter ros-kinetic-cob-dashboard ros-kinetic-cob-command-gui libmuparser-dev python-rosinstall python-wstool

Check rosdep updates:

$ rosdep update

Arm Packages:

Clone the following packages to the workspace source:

$ git clone https://github.com/ipa320/schunk_robots.git -b indigo_dev
$ git clone --single-branch -b kinetic https://github.com/ros-industrial/ros_canopen

Also available in the ITVRoC/SeekurJr repository.

https://github.com/ITVRoC/SeekurJr/tree/master/Seekur_16.04/Pacotes/schunk_robots https://github.com/ITVRoC/SeekurJr/tree/master/Seekur_16.04/Pacotes/ros_canopen https://github.com/ITVRoC/SeekurJr/tree/master/Seekur_16.04/Pacotes/lwa4p_moveit_config

Moveit

Install the Moveit package:

$ sudo apt install ros-kinetic-moveit

Then add the following package to the workspace source:

$ git clone https://github.com/ammarnajjar/lwa4p_moveit_config.git

Install the dependencies of the packages used:

$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
$ catkin_make

esd_usb2:

sudo vim /etc/modules

	# /etc/modules: kernel modules to load at boot time.
	#
	# This file contains the names of kernel modules that should be loaded
	# at boot time, one per line. Lines beginning with "#" are ignored.
	esd_usb2

Required CAN / USB Settings ** OBS: ** Settings must be performed before packages are initialized:

$ can_setup can0 #To configure the Schunk arm
$ can_setup can1 #To configure the Force Torque sensor

or

$ sudo ip link set dev can0 down
$ sudo ip link set can0 type can bitrate 500000
$ sudo ip link set dev can0 up
$ sudo ifconfig can0 txqueuelen 20

Packages use port can0 as default.

Initializing the Schunk arm

First launch to be used, for arm control

roslaunch schunk_lwa4p robot.launch

Starting the service of initialization :

rosservice call /arm/driver/init

The following message should be displayed:

success: True 
message: ''

Package to move the arm

roslaunch lwa4p_movit_config demo.launch

OBS: If the arm simulation is in a different position from the actual arm position, simply uncheck and check the MotionPlanning topic in Rviz:

Schunk Arm Calibration

If it is necessary to calibrate or test the Schunk arm, it can be done through the LWA_Tool executable, available in the CANopenToolsExt-1.0.2.8 folder, in [Seekur's github.] (https://github.com/ITVRoC/SeekurJr/tree/master/Seekur_16.04/Drivers_schunk)

Another tool that can be used is COT_ReferenceTool.exe, which serves to change the reference of each joint. To do this, simply carry out the steps described on the program screen. In addition, there are other executables in the folder that assist in maintaining and observing the parameters of the arm.