mycobot_ros2

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myCobot ROS2 package

Notes:

• Make sure that Atom is flashed into the top Atom and Transponder or minirobot is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
• Supported ROS2 versions:
  • Ubuntu 20.04 / ROS2 Foxy - branch foxy
  • Ubuntu 20.04 / ROS2 Galactic - branch galactic
  • Ubuntu 22.04 / ROS2 Humble - branch humble
  • Orin Nano Ubunut 20.04 / ROS2 Foxy - branch foxy
  • LimoPro Orin Nano Ubunut 20.04 / ROS2 Foxy - branch foxy
  • PC Virtual Machine Ubunut 20.04 / ROS2 Foxy - branch foxy

Installation

1.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

1.2 Package Download and Install

Install ros package in your src folder of your Colcon workspace.

$ cd ~/colcon_ws/src
# For the humble branch
$ git clone -b humble --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
# For the foxy branch
$ git clone -b foxy --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
# For the galactic branch
$ git clone -b galactic --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
$ cd ~/colcon_ws
$ colcon build
$ source ~/colcon_ws/install/setup.bash
$ sudo echo 'source ~/colcon_ws/install/setup.bash' >> ~/.bashrc

Troubleshooting

1. On ROS2 Humble if slider_control does not show GUI properly, update file /opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py from here: https://github.com/ros/joint_state_publisher/blob/ros2/joint_state_publisher_gui/joint_state_publisher_gui/joint_state_publisher_gui.py

URDF Model Graph

mycobot 280 m5

mycobot 280 m5 pump

mycobot 280 m5 camera flange

mycobot 280 m5 camera flange & pump

mycobot 280 m5 adaptive gripper

mycobot 280 pi

mycobot 280 pi pump

mycobot 280 pi camera flange

mycobot 280 pi camera flange & pump

mycobot 280 pi adaptive gripper

mycobot 280 JetsonNano

mycobot 280 JetsonNano adaptive gripper

mycobot 280 Arduino

mycobot 280 Arduino adaptive gripper

mycobot 280 x3pi

mycobot 280 x5pi

mechArm 270 m5

mechArm 270 m5 adaptive gripper

mechArm 270 pi

mechArm 270 pi adaptive gripper

myPalletizer 260 m5

myPalletizer 260 m5 adaptive gripper

myPalletizer 260 pi

myPalletizer 260 pi adaptive gripper

mycobot 320 m5 2022

mycobot 320 m5 2022 adaptive gripper

mycobot 320 m5 2022 force gripper

mycobot 320 pi 2022

mycobot 320 pi 2022 adaptive gripper

mycobot 320 pi 2022 force gripper

ultraArm P340

mybuddy

mycobot pro 600

myArm 300 Pi

mycobot pro 630