robotx-2022-launch-machine

Usage

1. Pull docker and Clone the repo

git clone -- recursive https://github.com/yimlaisum2014/robotx2022_launch_machine.git
docker pull yimlaisum2014/robotx2022:shoot

2. Enter docker

cd robotx2022_launch_machine/Docker
source docker_run.sh

If you already run the docker images,

source docker_join.sh

3. Catkin make the workspace and source environment

cd ../$USER/robotx2022_launch_machine
source catkin_make.sh
source enviroment.sh

P.S you can set the ROS_IP and ROS_MASTER_IP by typing source environment.sh 10.42.0.2 10.42.0.2

3. Start the procman

source start_shoot.sh

Here is 5 launch

• roscore
• rosserials : run the rosserials script to communcate with arduino by serial
• arm_control : setup the Vx300s allow the user can control
• arm_service : run some serive code allow the user to call
  • go_shoot : position for shooting
  • go_scan : position for HSI scanning
  • go_sleep : robot_arm sleep postion
  • go_arm_sleep : short-version Vx300s (adjusting wrist-angle)
• arm_rest : When the all tasks are finish, run this script allow the robot to rest

Other feature

1. single control commend

you could use this command to control single joint of the robot arm. elbow : (up) 1.3 ~ 1.6 (down) shoulder (up) -1.6 ~ -1.87 (down)

roslaunch arm_control tune_arm.launch set_joint_name:=shoulder set_joint_position:=-1.87

Backup

When procman didn't work

key launch file as following

• roslaunch shoot_control start_rosserial.launch
• roslaunch arm_control shoot_arm.launch
• roslaunch arm_control arm_service.launch
• roslaunch arm_control arm_rest.launch