Documentaion

Please refer document here:

https://lebai-robotics.github.io/lebai-ros-sdk/Noetic.html#

[DEPRECATED]

The following parts are deprecated. Please see the document in the foresaid link.

This document describe lebai-ros-sdk on ROS Noetic(Ubuntu 20.04)

If you use ROS melodic, please refer melodic-dev branch.

If you use ROS2 galactic, please refer galactic-dev branch.

Prerequsite

As a ROS package, you need firstly install ROS .

1. Install ROS follow official guide(ros-noetic-desktop-full is sugguested).

   sudo apt install -y ros-noetic-urdf ros-noetic-tf ros-noetic-xacro ros-noetic-robot-state-publisher ros-noetic-control-msgs rviz ros-noetic-rviz ros-noetic-fcl ros-noetic-industrial-core
   

   Note of ROS INDUSTRIAL : lebai-ros-sdk depends on ROS Industrial, at the time when we first build this package, ROS Industrial doesn't have debian package (Due to some dependencies are broken) for ROS Noetic, so we try to build it from source. Now we are happy that we can installROS Industrial from debian package (just run sudo apt install -y ros-noetic-industrial-core). So if you use the source to build ROS Industrial before, now you can delete the ROS Industrial source code from your local workspace and use a debian package install.

2. Now the communication to real robot in lebai-ros-sdk is written in python, based on the lebai-python-sdk, So we need install it, and also some other python packages

   ### lebai sdk
   pip3 install lebai
   
   ### Other python module
   pip3 install urdf-parser-py
   
   ### If pip3 is not install, install it by apt
   sudo apt install python3-pip
   

Get lebai-ros-sdk

checkout out package and run catkin_make

cd ~/catkin_ws/src
git clone git@github.com:lebai-robotics/lebai-ros-sdk.git -b noetic-dev
cd ~/catkin_ws
catkin_make

Unit Test

All the python driver code is in package lebai_driver, it contains an unit test.

To run this unit test, you need to have a simulation rc-master running.

You can use a real robot to run this test, but the test will made the real robot moving, you must guarantee the move do not cause any damage yourself.

Before you run the test, you need to set the robot ip of the simulation rc-master:

roscd lebai_driver/test
### edit the file test_lebai_driver.launch
### modify the robot_ip according  to real scene.
###
### <arg name="robot_ip" value="192.168.1.104" /> ###
###

Then, you can run the test

cd ~/catkin_ws/
catkin_make run_tests_lebai_driver

How to run

To connect a real lebai robot, you must have a lebai robot controller running with network access.

If you connect your ROS device to the lebai WIFI, usually the network gateway(10.20.17.1) address is the robot's physical IP address.

Once the driver started to run, you can get access to the robot controller via ROS pub\sub and services. See lebai_driver for elaborated information.

Run driver without gui display (lm3 as an example)

roslaunch lebai_lm3_support robot_interface_lm3.launch robot_ip:=your_robot_ip has_gripper:=0

robot_ip is the robot's physical IP address.

has_gripper depends on whether gripper is mounted on the end.

Run driver with gui display (lm3 as an example)

roslaunch lebai_lm3_support robot_interface_lm3_with_visual.launch robot_ip:=your_robot_ip has_gripper:=0

robot_ip is the robot's physical IP address.

has_gripper depends on whether gripper is mounted on the end.

Connect lm3 with MoveIt

roslaunch lebai_lm3_moveit_config real_robot.launch robot_ip:=your_robot_ip

robot_ip is the robot's physical IP address.

Note:

Now, we can only control lm3 manipulator from MoveIt. Gripper control is not implemented yet(coming soon).

Before using MoveIt to move the manipulator, make sure the robot is enabled, there are two methods:

in ROS:

rosservice call /system_service/enable "{}"

in l-master web, click the startup(启动) as show in the following fig:

TODO

• INSTALL part of CMakeLists.txt file is not done.
• gripper control is not implemented.