Aplicación del robot ABB IRB 1200 5kg 0.9m en el almacenamiento de componentes químicos antes de su uso en el proceso de producción.
Para ejecutar el avance:
- cd ~/catkin_ws
- catkin_make
- source devel/setup.bash
cd ~/catkin_ws/src/abb_pkgs/abb1200_master/src
roslaunch abb1200_gazebo irb1200_5_90_gazebo.launch
cd ~/catkin_ws/src/abb_pkgs/abb1200_master/src
rosrun abb1200_master jtc_node.py 1.0 -0.5 0.5 1.0 -1.0 0.5
rosrun abb1200_master jtc_node.py 0.02 0.60 -0.5 0 1.5 0
rosrun abb1200_master jtc_node.py 0.02 0.65 -0.5 0 1.5 0
rostopic pub /gripper/gripper_cmd/goal [Tab][Tab] #gripper agarra con position 0.2
rosrun abb1200_master jtc_node.py 0.02 0.50 -0.5 0 1.5 0
rosrun abb1200_master jtc_node.py 0.02 0.1 0.3 0 0 0
rosrun abb1200_master jtc_node.py 2.4 0.1 0.3 0 0 0
rosrun abb1200_master jtc_node.py 2.6 0.4 0.3 0 -0.8 0
rosrun abb1200_master jtc_node.py 2.8 0.4 0.4 0 -0.8 0
rostopic pub /gripper/gripper_cmd/goal [Tab][Tab] #gripper agarra con position 0.0
rosrun abb1200_master jtc_node.py 2.8 0.3 0.4 0 -0.8 0
rosrun abb1200_master jtc_node.py 0 0.3 0.4 0 -0.8 0
rosrun abb1200_master jtc_node.py 0.02 0.60 -0.5 0 1.5 0