su root
nano /etc/sudoers
<username> user_name ALL=(ALL) ALL
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-melodic-desktop
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo su
apt install python-rosdep2
apt-get update
apt-get dist-upgrade
in new terminal:
sudo apt-get install ros-melodic-catkin python-catkin-tools
sudo apt install ros-melodic-moveit
source /opt/ros/melodic/setup.bash
sudo apt-get install ros-melodic-moveit ros-melodic-moveit-visual-tools
sudo apt-get install git
git clone https://github.com/ArctosRobotics/ROS
catkin build
cd ROS
source devel/setup.bash
sudo apt update
sudo apt install python3-pip
pip3 install python-can[serial]
sudo apt-get install python3-tk
pip3 install sv-ttk
git clone https://github.com/ArctosRobotics/arctosgui
pip3 install ttkthemes
nano ~/.bashrc
add this line:
source /home/<your username>/ROS/devel/setup.bash
Ctrl+S Ctrl+X
sudo apt install python3-rosdep python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosinstall python3-catkin-tools python3-osrf-pycommon
sudo apt-get install ros-melodic-robot-state-publisher
sudo apt-get install ros-melodic-joint-state-publisher
sudo chmod a+rw /dev/ttyACM0
sudo rosdep init
rosdep update
cd arctosgui
ls
Ctrl+C
chmod +x run.sh
ls # should be green
./run.sh
4 tabs will open you can manually open them by:
roslaunch arctos_config demo launch
rosrun moveo_moveit interface.py
rosrun moveo_moveit transform.py
python3 ui.py
Wait for the gui and rviz to show
In moveit rviz go File>Open config or Ctrl+O and open arctosgui_config.rviz
Connect the robot
If you have other port than /dev/ttyACM0 edit files send.py and ros.py to adress your specific port
Plan new toolpath by moving joints or tool Run ROS button will send CAN messages from new pose
Run RoboDK will send gcode.tap file to robot Make sure that you copy the gcode from RoboDK post processor to gcode.tap or adapt it to export code to arctos gui location under the name gcode.tap and replace it.
Set gear ratios in convert.py and roscan.py gear_ratios = [1, 1, 1, 1, 1, 1] # Replace with your actual gearbox ratios
Raw gear ratios. X 13.5 Y 150 Z 150 A 48 B 67.82 C 67.82
In theory raw gear ratios should be multiplied to 0.5, so gear_ratios would be [6.75, 75, 75, 24, 33.91, 33.91] They are not tested!
user_path = "/home/ee/arctosgui"
just adapt serial port to your specific port
serial_port = "/dev/ttyUSB0"
Before using you need to give permissions to ttyUSB0
sudo chmod a+rw /dev/ttyUSB0