cartesian controller teleop demo (real robot)

• It requires you to change the motors mode from joint to wheel mode. A bash script is provided to do so:

  roscd cyton_gamma_1500_driver/ros/scripts bash set_motors_wheel_mode.sh

Make sure no errors appear, if so, run the script again until no errors.

• Launch components:

On the robot:

roscore
roslaunch mbot_bringup robot.launch controller_type:=velocity
roslaunch mbot_cartesian_controller mbot_cartesian_controller.launch

On you local PC connect the 3D spacenav mouse to USB port and run:

export export ROS_MASTER_URI=http://10.1.15.14:11311 # alias -> export_mbot
roslaunch mbot_cartesian_controller mbot_cartesian_controller_teleop.launch

• Now you can move the arm in cartesian space

To return to trajectory/position mode

• set motor torque off (requires bringup to be running, if not running then press/release emergency stop button to disable motors torque)

  rosrun cyton_gamma_1500_driver set_arm_torque_off

• kill all previous nodes

ctrl + c in all terminals (including roscore) or

sudo pkill -f ros # alias -> kill_all_ros_nodes

• change motors from wheel mode to joint mode, use script:

  roscd cyton_gamma_1500_driver/ros/scripts bash set_motors_joint_mode.sh

Make sure no errors appear, if so, run the script again until no errors. If needed press/release emergency stop button to reset motors and run script again until no errors.

• run components as usual

  roscore roslaunch mbot_bringup robot.launch # alias -> bringup_mbot roslaunch mbot_moveit_tec_arm move_group.launch # alias -> moveit rosrun moveit_commander moveit_commander_cmdline.py

in moveit commander console type:

use left_arm
go candle # replace candle by a prerecorded arm configuration (see list below)

most used prerecorded arm configurations

candle, muscle, front, pregrasp, kill

• Done, arm should be able to move now normally