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ROS-Robot

Chinese version of the README -> please click here

Dobot TCP-IP-ROS-6AXis secondary development API interface (TCP-IP-Python-V3 Public README)

1. Introduction

TCP-IP-ROS-6AXis is a software development kit designed by Dobot based on the ROS of TCP/IP protocol. It is developed based on ROS/C++ language, follows the Dobot-TCP-IP control communication protocol, connects to the device terminal via socket, and provides users with an easy-to-use API interface. Through TCP-IP-ROS-6AXis, users can quickly connect to the Dobot device and carry out secondary development to control and use the device.

Pre-dependency

You can connect your computer to the network interface of the controller with a network cable, and then set the fixed IP to be in the same network segment as the controller IP. You can also connect your computer to the controller via wireless connection.

When connected to LAN1 via wired connection: IP: 192.168.5.1; When connected to LAN2 via wired connection: IP: 192.168.100.1; Wireless connection: IP: 192.168.1.6
Try pinging the controller IP to make sure it is under the same network segment.
This API interface and Demo are suitable for Ubuntu-ROS1 environment. Here is the ROS1 version corresponding to the Ubuntu version:

** Install ROS1 on Ubuntu 16.04

ROS Kinetic

** Install ROS1 on Ubuntu 18.04

ROS Melodic

** Install ROS1 on Ubuntu 20.04

ROS Noetic
This API interface and Demo are applicable to V3 series controller V3.5.5.0 and above.

Version and Release

Current version V1.0.0.0

Version	Date
V1.0.0.0	2024-03-06

2. Technical support

If you have any questions or suggestions, you can contact Dobot's technical support:

Send an email to wuyongfeng@dobot-robots.com with a detailed description of the problem you are experiencing and the scenario in which you are using it.

3. CR_ROS control protocol

As the communication based on TCP/IP has high reliability, strong practicability and high performance with low cost, many industrial automation projects have a wide demand for controlling robots based on TCP/IP protocol. Therefore, the CR-V3 robot is designed to provide rich interfaces for interaction with external devices based on the TCP/IP protocol. For more details, see Dobot TCP_IP Remote Control Interface Guide.

4. Obtaining CR_ROS

Obtain the secondary development API program of Dobot TCP-IP-ROS-6AXis from GitHub.
```
`git clone https://github.com/Dobot-Arm/TCP-IP-ROS-6AXis.git
```
Refer to the corresponding README-V3.m file for use.

5. File and class descriptions

File	Description
dobot_bringup	Communication node of V3 robot, responsible for communication with the robot.
dobot_v4_bringup	Communication node of V4 robot, responsible for communication with the robot.
dobot_gazebo	Robot-simulation related
rviz_dobot_control	Rviz related
dobot_description	URDF model
dobot_moveit	Active moveit for different models
cr3_moveit	CR3 moveit
cr5_moveit	CR5 moveit
cr10_moveit	CR10 moveit
cr16_moveit	CR10 moveit
me6_moveit	E6 moveit
nova2_moveit	Nova2 moveit
nova5_moveit	Nova5 moveit
rosdemo_v3	V3 robot running demo
README-V3-EN	V3 Readme
README-V4-EN	V4 Readme

6. Source Code Compilation

Download source code

cd $HOME/catkin_ws/src

git clone https://github.com/Dobot-Arm/TCP-IP-ROS-6AXis.git

cd $HOME/catkin_ws

Compile

catkin_make

Set environment variable

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

If it is a CR3 robot, please type the following commands

echo "export DOBOT_TYPE=cr3" >> ~/.bashrc
source ~/.bashrc

If it is a CR5 robot, please type the following commands

echo "export DOBOT_TYPE=cr5" >> ~/.bashrc
source ~/.bashrc

If it is a CR10 robot, please type the following commands

echo "export DOBOT_TYPE=cr10" >> ~/.bashrc
source ~/.bashrc

If it is a CR16 robot, please type the following commands

echo "export DOBOT_TYPE=cr16" >> ~/.bashrc
source ~/.bashrc

7. Demonstration

Use in a simulation environment

rviz display

roslaunch dobot_description display.launch

You can adjust the angle of each joint via joint_state_publisher_gui, and see the result on rviz.

moveit control

Start moveit with the following command

roslaunch dobot_moveit demo.launch

Drag the joint to any angle and click "Plan and Execute" to see the result.

If the operating environment is Ubuntu16-ros-Kinetic or below, replace the demo.launch file

<?xml version="1.0"?>
<!--
  Usage:
    roslaunch cr5_bringup cr5_bringup.launch robot_ip:=<value>
-->
<launch>
  <arg name="DOBOT_TYPE" default="$(env DOBOT_TYPE)" />

  <!-- export DOBOT_MOVEIT_PARENT_PATH=$(dirname $(rospack find dobot_moveit)) -->
  <arg name="Dobot_parent_path" value="$(env DOBOT_MOVEIT_PARENT_PATH)" />
  <arg name="Dobot_path" default="$(env DOBOT_TYPE)_moveit" />
  <arg name="Target_path" value="$(arg Dobot_parent_path)/$(arg Dobot_path)/launch" />
  <include file="$(arg Target_path)/demo.launch"/>
</launch>

Then execute the following commands

source  ~/.bashrc 

source $HOME/catkin_ws/devel/setup.bash

export DOBOT_MOVEIT_PARENT_PATH=$(dirname $(rospack find dobot_moveit))

roslaunch dobot_moveit demo.launch

If error occurs, please check the above commands.

gazebo simulation

Start gazebo with the following command

roslaunch dobot_gazebo gazebo.launch

You can also use “MoveIt!” to control the gazebo robots
Set “MoveIt!” node that allows motion planning to run

roslaunch dobot_moveit moveit.launch

Drag the joint to any angle and click "Plan and Execute" to see the result.

Exception handling methods:

Install the ros-control ros-controller

sudo apt-get install ros-$ROS_DISTRO-ros-control ros-$ROS_DISTRO-ros-controllers

Node start order: Start gazebo first, then moveit.

Controlling the real robot

Use the following command to connect to the robot, robot_ip is the IP address of the actual robot.
```
roslaunch dobot_bringup bringup.launch robot_ip:=192.168.5.1
```
Start Moveit with the following command
```
roslaunch dobot_moveit moveit.launch
```

If the operating environment is Ubuntu16-ros-Kinetic or below, replace the moveit.launch file

<?xml version="1.0"?>
<!--
  Usage:
    roslaunch cr5_bringup cr5_bringup.launch robot_ip:=<value>
-->
<launch>
  <arg name="DOBOT_TYPE" default="$(env DOBOT_TYPE)" />

  <!-- export DOBOT_MOVEIT_PARENT_PATH=$(dirname $(rospack find dobot_moveit)) -->
  <arg name="Dobot_parent_path" value="$(env DOBOT_MOVEIT_PARENT_PATH)" />
  <arg name="Dobot_path" default="$(env DOBOT_TYPE)_moveit" />
  <arg name="Target_path" value="$(arg Dobot_parent_path)/$(arg Dobot_path)/launch" />
  <include file="$(arg Target_path)/$(arg Dobot_path).launch"/>
</launch>

Then execute the following commands

source  ~/.bashrc 

source $HOME/catkin_ws/devel/setup.bash

export DOBOT_MOVEIT_PARENT_PATH=$(dirname $(rospack find dobot_moveit))

roslaunch dobot_moveit moveit.launch

If error occurs, please check the above commands.
Modify the contents of the robot_type.json file in the rviz_dobot_control directory, and modify the robotType field to V3 (V3 by default)

{
    "robotType": "v3"
}

Add the DobotControl plugin to rviz to enable the robot
1. Click Panels --> Add New Panel.
2. Select DobotControl and click OK.
3. Click EnableRobot to enable the robot.
4. When Enable and Connected are displayed on the status area, it means the robot is connected and enabled, and you can control the robot via Moveit.

Custom function development

The dobot_bringup defines msgs and srvs, and you can use these underlying msgs and srvs to control the robot.

8. Common problem

Problem 1: TCP connection. Port 29999/30003 cannot be connected or cannot deliver commands after connecting.

Solution: If the controller version is below V3.5.6.0, you can try to upgrade the controller to V3.5.6.1 or above. If the controller version is already V3.5.6.1 or above, you can feedback the problem to technical support.

Problem 2: During TCP connection, the 29999 control port can send commands, but the 30003 motion port cannot send commands.

Solution: If motion queue is blocked, you can try to reopen the queue by delivering clearerror() and continue() commands via port 29999. The continue() command is supported by V3.5.7.0 and above version.

Problem 3: How to judge whether the Robot motion command is in place or not

Solution: It can be judged by delivering a sync command.

It can be judged by comparing the Cartesian coordinates of the target point with the actual Cartesian coordinates of the robot.

It can be judged by comparing the joint coordinates of the target point with the actual joint coordinates of the robot.

9. Example

Dobot-Demo realizes TCP control of the robot and other interactions. It connects to the control port, motion port, and feedback port of the robot respectively. It delivers motion commands to robot, and handles the abnormal status of the robot, etc.

Main thread: Connect to the control port, motion port, and feedback port of the robot respectively. Enable the robot.

Feedback status thread: Real-time feedback of robot status information.

Robot motion thread: Deliver motion commands to robot

Exception handling thread: Judge and handle the abnormal status of the robot

Steps to run the Demo:

Obtain the secondary development API program of Dobot TCP-IP-ROS-6AXis from GitHub.
```
`git clone https://github.com/Dobot-Arm/TCP-IP-ROS-6AXis.git
```
Connect to the robot via LAN1 interface, and set the local IP address to 192.168.5.X

Control Panel >> Network and Internet >> Network Connections

Select the connected Ethernet >> Right click >> Properties >> Internet Protocol Version (TCP/IPV4)

Modify the IP address to 192.168.5.X

Open the DobotStudio Pro, connect to the robot, and set the robot mode to TCP/IP secondary development.

Download source code
cd $HOME/catkin_ws/src
git clone https://github.com/Dobot-Arm/TCP-IP-ROS-6AXis.git
cd $HOME/catkin_ws

Compile
catkin_make

Set environment variable
source $HOME/catkin_ws/devel/setup.bash

Import model
echo "export DOBOT_TYPE=cr3" >> ~/.bashrc
source ~/.bashrc

Start node
roslaunch dobot_bringup bringup.launch
 
New terminal
cd $HOME/catkin_ws/src
source ~/.bashrc
source $HOME/catkin_ws/devel/setup.bash

Start demo
roslaunch rosdemo_v3  democr_v3.launch

Make sure the robot is in a safe position before running the Demo to prevent unnecessary collisions.

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

README-V3-EN.md

README-V3-EN.md

ROS-Robot

1. Introduction

Pre-dependency

Version and Release

Current version V1.0.0.0

2. Technical support

3. CR_ROS control protocol

4. Obtaining CR_ROS

5. File and class descriptions

6. Source Code Compilation

Download source code

Compile

Set environment variable

If it is a CR3 robot, please type the following commands

If it is a CR5 robot, please type the following commands

If it is a CR10 robot, please type the following commands

If it is a CR16 robot, please type the following commands

7. Demonstration

Use in a simulation environment

rviz display

moveit control

gazebo simulation

Controlling the real robot

Custom function development

8. Common problem

9. Example

Files

README-V3-EN.md

Latest commit

History

README-V3-EN.md

File metadata and controls

ROS-Robot

1. Introduction

Pre-dependency

Version and Release

Current version V1.0.0.0

2. Technical support

3. CR_ROS control protocol

4. Obtaining CR_ROS

5. File and class descriptions

6. Source Code Compilation

Download source code

Compile

Set environment variable

If it is a CR3 robot, please type the following commands

If it is a CR5 robot, please type the following commands

If it is a CR10 robot, please type the following commands

If it is a CR16 robot, please type the following commands

7. Demonstration

Use in a simulation environment

rviz display

moveit control

gazebo simulation

Controlling the real robot

Custom function development

8. Common problem

9. Example