Using Motoman

See Motoplus Application Instructions for more details. #Motoman Connection# The motoman is connected via Ethernet cable to the APC computer in the lab. To connect a different computer, the IP settings on the controller would have to be changed, so the lab computer should always be used to operate the robot.

IP Addresses in the lab:#

• Workstation to the FS100 - 10.0.0.6
• FS100 - 10.0.0.2
• P. Pendant - 10.0.0.4
• Left Hand - 10.0.0.10
• Right Hand - 10.0.0.11

#Launching ROS to control Motoman#

-for any launch file connecting to robot, three params must be set: controller:=fs100, robot_ip:=10.0.0.2, version0:=false

If the controller nodes have started correctly, you can echo the joint states with the command:
rostopic echo joint_states

Currently, for testing, there is a generally useful source code file (and associated launch file) called 'move_there_move_back.cpp'. It will move the robot to hard-coded poses and can be easily modified for what you need.

There is a ROS interface on the controller, which runs a normal ROS joint-trajectory-action server. Publishing a "JointTrajectory" message generated by a motion planner will cause the real robot to respond just like the RVIZ simulation.

#Controlling Hands To operate the hands, 2 nodes must be running (and roscore), and Kevin's gripper service can then be called. Run the following (with 10.0.0.11 for right hand and 10.0.0.10 for left hand):

roscore

rosrun grasp_logic SModelTcpNode.py 10.0.0.XX

rosrun gripper_srv gripper_controller.py

rosservice call /command_gripper "command: 'activate'"

The 'activate' function calibrates the hand and should be called initially when using the hands. 'activate' can be replaced with other known commands like 'open' or a number can be specified for a specific position of the fingers like '60' or '100'.