ee175

Installation

• We assume that the ROS workspace is at ~/catkin_ws.

cd ~/catkin_ws/src
git clone https://github.com/UCR-Robotics/ee175
cd ..
catkin_make

Usage

• To launch mobile base and sensors (camera and lidar) on the real robot

roslaunch ee175 bringup.launch

• To visualize the data from camera and lidar

roslaunch ee175 rviz.launch

• To launch a quick demo of manipulator using Moveit

roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=rx150 use_actual:=true dof:=5

• To launch the manipulator for development

roslaunch interbotix_sdk arm_run.launch robot_name:=rx150

Notes

• The manipulator and camera must directly connect to the onboard computer (rather than indirectly via USB hub). Please do not change this setup.

• For the documentation of manipulator, please refer to the official repository.

• For safety purpose, please double check if the joint angles are valid (i.e. it will not cause the crash) before sending to the manipulator.

Debug

• To check if the manipulator is connected. It is expected to see ttyDXL.

ls /dev | grep ttyDXL