RobotArmSim

• myNotes is some reference------（optional)

• block_for_arm is model (.stl) for gazebo------(needed)

• There are three ros packages

  • 1.myrobot_control------(needed)
  • 2.myrobot_gazebo------(needed)
  • 3.my_robot_description------(needed)

  After downloded the needed files into your /catkin_ws/src,
  ~/catkin_ws$ catkin_make

  sudo apt-get install python-pip
  pip install --upgrade setuptools 
  

  (pip install --upgrade pip)(skip the WARNING)
  

  pip install getkey
  

  sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers(gazebo_ros_plugins)
  sudo apt-get install ros-melodic-joint-state-publisher-gui
  (for roslaunch myrobot_description myrobot_rviz.launch)
  

  gedit ~/.ignition/fuel/config.yaml
  (change "api.ignitionfuel.org" with "fuel.ignitionrobotics.org")
  

  mkdir ~/.gazebo/models
  cp -r ~/catkin_ws/src/block_for_arm ~/.gazebo/models
  

• ERROR HANDLING
  

  • Gazebo:
    [spawn_gazebo_model-4] process has died
    

  (cause by rosdep permission)
  

  (if you can't run $ rosdep update without sudo,
  run $ sudo rosdep fix-permissions)
  

• VS CODE INSTALLATION
  https://jetsonhacks.com/2020/11/28/visual-studio-code/

• STM32 USB Port Connection enable
  $sudo chmod 777 /dev/ttyACMx

• enable python program to run
  $sudo chmod +x your_program_name.py