TKU Mobile Manipulator Robot (M-Bot)

#ur_Gazebo Setting roslaunch ur_gazebo ur5.launch limited:=true

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

#ur5 roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=192.168.5.5

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

#ur5_teach roslaunch ur_bringup ur5_bringup.launch limited:=true robot_ip:=192.168.5.5 teach_mode:=true

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

rosrun mbot_control teach_mode_server.py

rosrun mbot_control teach_mode_client.py (test)

roslaunch rosbridge_server rosbridge_websocket.launch

1. Start $ sudo service mini-httpd start

2. Edit(if need)

$ sudo vim /etc/mini-httpd.conf

2.1. Edit path

data_dir=/home/iclab/mbot_ws/src/web

2.2. bind host(ip address)

host=[your ip]

3. Auto Start

$ sudo update-rc.d mini-httpd enable

$ sudo vim /etc/default/mini-httpd

START=1

roslaunch rosbridge_server rosbridge_websocket.launch

rosrun mbot_control info.py

rosrun mbot_control ur5_control.py

rosrun mbot_control base base_arduino

rostopic pub /base_vel geometry_msgs/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 3.0 y: 2.0 z: 0.0"

roslaunch rosbridge_server rosbridge_websocket.launch

rosrun mbot_control info.py

rosrun mbot_control base

rosrun mbot_control control.py

rosrun mbot_strategy strategy.py

直接開啟/home/mbot_ws/src/web/teach_mode.html

roslaunch rosbridge_server rosbridge_websocket.launch (目的：可以使用網頁當介面)

rosrun mbot_control info.py (目的：網頁跟本系統溝通的橋樑)

rosrun mbot_control control.py (目的：mbot機器人控制)

rosrun mbot_control base (目的：控制下面平台)

sudo pip install math3d (maybe you need to get pip -> #sudo apt-get install python-pip)

https://github.com/SintefRaufossManufacturing/python-urx (download url)

python setup.py install

#config file /home/mbot_ws/src/mbot_config/teach_mode.json

#debug 問題 #----Base debug----#

1. 出現下方訊息 代表RS232開啟失敗 問題： (Base Node) Open RS232(/dev/ttyACM0) cssl: cannot open file (Base Node) Open RS232(/dev/ttyACM0) fail (Base Node) Open RS232(/dev/ttyACM1) (Base Node) Open RS232(/dev/ttyACM1) fail 解決：權限問題

#open camera cd /usrcd/src/flycapture/bin sudo FlyCap2

sudo FlyCap2