A driver provides ROS support for techman robots. TM5_700 is available for ROS Indigo.
This project is in development. Currently, only TM5_700 is available, there will be TM5_900 and TM10_1300 in the future. Note that we will use "tm700" to represent TM5_700 in this package.
- Action interface on /joint_trajectory_action for integration with MoveIt
- Publishes robot joint state on /joint_states
- Publishes TCP position on /tool_position
- Publishes TCP velocity on /tool_velocity
- Publishes TCP force on /wrench
- Service call to set outputs on /tm_driver/set_io
First set up a catkin workspace (see this tutorials).
Then clone the repository into the src/ folder. It should look like /path/to/your/catkin_workspace/src/techman_robot.
Make sure to source the correct setup file according to your workspace hierarchy, then use
catkin_make to compile.
Note that this package depends on hardware_interface, and controller_manager.
Usage with Moveit
test in simulation:
To bring up moveit environment in simulation mode, run:
roslaunch tm700_moveit_config tm700_moveit_planning_execution.launch
run with real robot:
set up networking:
- Click on the network settings (double-arrow in the title bar) and select Edit Connections
- Locate the new connection (mine was Wired Connection 1) and select Edit. Under the IPv4 tab, set:
- address = 192.168.0.11 (or similar)
- netmask = 255.255.255.0
- Connect an ethernet cable and try to ping your connected robot:
To bring up moveit environment and connect to real robot, run:
roslaunch tm700_moveit_config tm700_moveit_planning_execution.launch sim:=False robot_ip:=192.168.0.10
Usage with Gazebo
To bring up the simulated robot in Gazebo, run:
roslaunch tm_gazebo tm700.launch