├── LICENSE ├── docs ├── README.md └── logo │ └── mecademic_logo.jpg ├── mecademic_description ├── CMakeLists.txt ├── launch │ └── meca_500_r3.launch ├── meshes │ ├── meca_500_r3_base.dae │ ├── meca_500_r3_base_collision.stl │ ├── meca_500_r3_j1.dae │ ├── meca_500_r3_j1_collision.stl │ ├── meca_500_r3_j2.dae │ ├── meca_500_r3_j2_collision.stl │ ├── meca_500_r3_j3.dae │ ├── meca_500_r3_j3_collision.stl │ ├── meca_500_r3_j4.dae │ ├── meca_500_r3_j4_collision.stl │ ├── meca_500_r3_j5.dae │ ├── meca_500_r3_j5_collision.stl │ ├── meca_500_r3_j6.dae │ └── meca_500_r3_j6_collision.stl ├── package.xml └── urdf │ └── meca_500_r3.urdf.xacro ├── mecademic_robot_node ├── CMakeLists.txt ├── package.xml ├── setup.py └── src │ └── mecademic_robot_driver │ ├── __init__.py │ └── mecademic_robot_driver.py └── mecademic_viz ├── CMakeLists.txt ├── launch ├── view_meca_500_r3_model.launch └── view_robot.launch ├── package.xml └── rviz ├── model.rviz └── robot.rviz /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Mecademic 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /docs/README.md: -------------------------------------------------------------------------------- 1 | ![Mecademic](./logo/mecademic_logo.jpg "Mecademic") 2 | # Mecademic ROS package 3 | 4 | NOTE: **This package uses an old version of the Python driver and is no longer supported. We currently do not have a ROS package that is being actively developed and tested** 5 | 6 | A ROS package that can be built on to create ROS projects that can communicate with the Robot Products from Mecademic. The package can also be taken and placed into your already existing project (the project must be built after including the Mecademic package in order for your project to integrate the new package correctly). 7 | 8 | #### Supported Robots 9 | 10 | * Meca500 R3 11 | 12 | #### Supported ROS distros 13 | 14 | * Melodic 15 | 16 | ## Getting Started 17 | 18 | These instructions will allow you to control the Robots from Mecademic through nodes and topics in ROS for development and deployment purposes. 19 | 20 | ## Prerequisites 21 | 22 | To be able to use the package without unexpected errors, the user must have a copy of python version 3.6 or higher installed on their machine. [Python](https://www.python.org/) can be installed from its main website. 23 | 24 | The user will also need to have ROS installed on their computer. The installation guide for [ROS](http://wiki.ros.org/ROS/Installation) can be found on i main website. Warning: the ROS distribution must be a distribution of ROS that is supported by the package, which are listed at the top of the README. If your ROS distribution is not listed in the supported distributions, compatibility is not guaranteed and errors may arise due to the incompatibility. It is also recommended to be familiar or an expert on ROS to be able to develop your own ROS project intergrating this package. ROS tutorials can be found [here](http://wiki.ros.org/ROS/Tutorials). 25 | 26 | The user will need to download the MecademicRobot python driver package for the ROS node to interface with the physical hardware. The package and its installation instructions can be found on the [Mecademic Github](https://github.com/Mecademic/python_driver). 27 | 28 | ## Downloading the project base 29 | 30 | The project can be cloned from the Mecademic Github repository. Once cloned, the user is able to use the package for their project. 31 | 32 | ## Running a Robot from Mecademic with the ROS package 33 | 34 | #### MecademicRobot_driver Node 35 | 36 | The package only has one node called "MecademicRobot_driver", with anonymous set to true to give it a unique name by adding random numbers to the end of the node name. The node is already capable of interfacing with the hardware as it is without modification of the source code. The node subscribes to certain topics meant for control and publishes to topics meant for feedback. The topics are listed in the table below. 37 | 38 | | Topics | Driver link| Message Format | Description | 39 | | ------------- | ------------- | ----------------- | --------------| 40 | | _/MecademicRobot_command_ | Subscriber | String |Ascii string with the command written like it is in the user manual 41 | | _/MecademicRobot_pose_ | Subscriber | geometry_msgs.Pose | Target Position and Orientation of the Tool Reference Frame (TRF) 42 | | _/MecademicRobot_joint_ | Subscriber | sensor_msgs.JointState | Target Joint angles and velocity (same for all joints) 43 | | _/MecademicRobot_gripper_ | Subscriber | Bool | Make the Gripper Open or Close 44 | | _/MecademicRobot_reply_ | Publisher | String | Ascii reply from the Robot after executing a command 45 | | _/MecademicRobot_pose_fb_ | Publisher | geometry_msgs.Pose | Current Position and Orientation of the Tool Reference Frame (TRF) 46 | | _/MecademicRobot_joint_fb_ | Publisher | sensor_msgs.JointState | Current joint angles 47 | | _/MecademicRobot_status_ | Publisher | UInt8MultiArray | Array of the Status flags of the Robot 48 | 49 | The topics are used to send and receive data with the ROS middleware to interact with the robot. To be able to control the robot, the user can use the control methods available through the existing topics. 50 | 51 | * Joint Control can be done using the _/MecademicRobot_joint_ and _/MecademicRobot_joint_fb_ topics. By using _/MecademicRobot_joint_ to give the robot target positions to reach and monitoring the movement with _/MecademicRobot_joint_fb_, the joints can be controlled to make the robot move to desired locations. The message format used for the topics are the [JointState](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/JointState.html) message format. This format has float64 arrays for the values of name, position, velocity and effort. The node only uses the values for position, which are the angles of each independent joint, and the first value of the velocity array (since all joints on the robot go at the same velocity) when subscribing to _/MecademicRobot_joint_ and only the positions when giving feedback through the _/MecademicRobot_joint_fb_ topic. The length of position must be equal to the amount of joints on the robot or the robot will refuse the movement. 52 | 53 | * Pose Control can be done using the _/MecademicRobot_pose_ and _/MecademicRobot_pose_fb_ topics. By using _/MecademicRobot_pose_ to give the robot target positions to reach and monitoring the movement with _/MecademicRobot_pose_fb_, the pose can be controlled to make the robot move to desired locations. The message format used for the topics are the [Pose](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Pose.html) message format. This format uses the [Point](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Point.html) and [Quaternion](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Quaternion.html) message formats. Point contains the x, y and z position while Quarternion contains the angles of the reference fram for x, y, z and w. The node doesn't use the value for w in the Quarternion message. To know the reference system used by the Mecademic Robots, the information can be found in the [user manual](https://mecademic.com/resources/documentation). 54 | 55 | * Gripper Control can be done by using the _/MecademicRobot_gripper_ topic. The topic uses the Bool message format, which is just a regular boolean. Sending True will open the gripper and sending a False will close the gripper. 56 | 57 | * Custom Control can be done by using the _/MecademicRobot_command_ and _/MecademicRobot_reply_ topics. By using the _/MecademicRobot_command_ topic to send the commands written in the user manual and the _/MecademicRobot_reply_ to analyse the returned message and message code from the robot, the robot can be used in various ways and can use all the robot's features and capabilities. Both use the String message format, which is a simple string value. 58 | 59 | The _/MecademicRobot_reply_ topic has two different formats. If commands are sent through the _/MecademicRobot_command_ topic, the replies from the robot will be raw and contain the message code and message contents. If any other topic for commands is used, the replies will be published already decoded so only the contents of the message are passed. 60 | 61 | The driver takes detects when it is in error and flag the module when it is. When an error is detected, it will attempt to reset the error before performing the next command. If it is stuck in error mode, the robot will need to be inspected by a person and, possibly, the system rebooted. 62 | 63 | The feedback from the joints, pose and status are continuously published to their respective topic as they are acquired from the robot. The joints and pose format have been described in their appropriate control scheme. The status feedback is a UInt8MultiArray message format, which is an array of uint8 values. The representation of every value can be interpreted as a boolean value, 0 for False and True otherwise. The values correspond to the **Activation (robot), Homing (robot), Simulation Mode, Error, Paused, EOB, EOM, Gripper enabled, Homing state (end effector), Limit reached (end effector), Error state (end effector) and force overload (end effector)** respectively. 64 | 65 | Using the different available control methods and continuous feedback, the robot can be controlled in the manner the user sees more fit for their project. Each control method has its perks and using can be used independently from each other. Using them in unison will allow the user to use more of the robots features and maximize their use of the Mecademic Robot. 66 | 67 | #### Communicating with the MecademicRobot_driver Node 68 | 69 | In order to communicate with the MecademicRobot_driver node, the user must make their own node(s) that will subscribe and publish to the topics listed below. 70 | 71 | | Topics | Driver link| Message Format | Description | 72 | | ------------- | ------------- | ----------------- | --------------| 73 | | _/MecademicRobot_command_ | Publisher | String |Ascii string with the command written like it is in the user manual 74 | | _/MecademicRobot_pose_ | Publisher | geometry_msgs.Pose | Target Position and Orientation of the Tool Reference Frame (TRF) 75 | | _/MecademicRobot_joint_ | Publisher | sensor_msgs.JointState | Target Joint angles and velocity (same for all joints) 76 | | _/MecademicRobot_gripper_ | Publisher | Bool | Make the Gripper Open or Close 77 | | _/MecademicRobot_reply_ | Subscriber | String | Ascii reply from the Robot after executing a command 78 | | _/MecademicRobot_pose_fb_ | Subscriber | geometry_msgs.Pose | Current Position and Orientation of the Tool Reference Frame (TRF) 79 | | _/MecademicRobot_joint_fb_ | Subscriber | sensor_msgs.JointState | Current joint angles 80 | | _/MecademicRobot_status_ | Subscriber | UInt8MultiArray | Array of the Status flags of the Robot 81 | 82 | Notice that the driver link column of the table is the reverse of the previous table found in the section MecademicRobot_driver Node. This is because one node must be publishing data that the other subscribes to so that it can retrieve it. It is not necessary to use all the topics, but the more topics that are used, the more you maximize the features of the robot. The controller design is up to the user. The controller can utilize other ROS packages or custom packages as long as the MecademicRobot_driver node gets the required data so that it can perform actions. 83 | 84 | When sending commands to the robot, be aware that the movement commands and the status retrieval occur over the same socket. Sending a large amount of movements over a short time may block the status feedback retriever from using the socket to retrieve the status information. Positional feedback does **not** share this issue. It is on its own socket and has no restrictions for accessing the socket. This means that positional information will always be retrieved whether commands are being sent or the robot is idle. 85 | 86 | ## Getting Help 87 | 88 | To get support, you can start an issue on the Mecademic/ROS issues section or send an email to support@mecademic.com. 89 | 90 | ## License 91 | 92 | All packages in this repository are licensed under the MIT license. 93 | 94 | ## Authors 95 | 96 | * **Mecademic** - *Continuous work* 97 | 98 | -------------------------------------------------------------------------------- /docs/logo/mecademic_logo.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Mecademic/ROS/5c471e98a834b68503c93bd4c6a4719c32e3e491/docs/logo/mecademic_logo.jpg -------------------------------------------------------------------------------- /mecademic_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mecademic_description) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | -------------------------------------------------------------------------------- /mecademic_description/launch/meca_500_r3.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /mecademic_description/meshes/meca_500_r3_base_collision.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Mecademic/ROS/5c471e98a834b68503c93bd4c6a4719c32e3e491/mecademic_description/meshes/meca_500_r3_base_collision.stl -------------------------------------------------------------------------------- /mecademic_description/meshes/meca_500_r3_j1_collision.stl: 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71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | -------------------------------------------------------------------------------- /mecademic_description/meshes/meca_500_r3_j6_collision.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Mecademic/ROS/5c471e98a834b68503c93bd4c6a4719c32e3e491/mecademic_description/meshes/meca_500_r3_j6_collision.stl -------------------------------------------------------------------------------- /mecademic_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mecademic_description 4 | 1.0.0 5 | The mecademic_description package 6 | 7 | Mecademic 8 | Dave Niewinski 9 | 10 | MIT 11 | 12 | catkin 13 | urdf 14 | xacro 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /mecademic_description/urdf/meca_500_r3.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | -------------------------------------------------------------------------------- /mecademic_robot_node/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mecademic_robot_node) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | rospy 7 | std_msgs 8 | geometry_msgs 9 | sensor_msgs 10 | ) 11 | 12 | catkin_python_setup() 13 | 14 | catkin_package( 15 | CATKIN_DEPENDS 16 | roscpp 17 | rospy 18 | std_msgs 19 | geometry_msgs 20 | sensor_msgs 21 | ) 22 | 23 | catkin_install_python(PROGRAMS src/mecademic_robot_driver/mecademic_robot_driver.py 24 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /mecademic_robot_node/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mecademic_robot_node 4 | 1.0.1 5 | The mecademic_robot_node package 6 | 7 | Mecademic 8 | 9 | MIT 10 | 11 | https://github.com/Mecademic/ROS/tree/master/catkin_ws/src/mecademic_robot_node 12 | 13 | Mecademic 14 | 15 | catkin 16 | roscpp 17 | rospy 18 | std_msgs 19 | geometry_msgs 20 | sensor_msgs 21 | roscpp 22 | rospy 23 | std_msgs 24 | geometry_msgs 25 | sensor_msgs 26 | roscpp 27 | rospy 28 | std_msgs 29 | geometry_msgs 30 | sensor_msgs 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /mecademic_robot_node/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['mecademic_robot_node'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /mecademic_robot_node/src/mecademic_robot_driver/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Mecademic/ROS/5c471e98a834b68503c93bd4c6a4719c32e3e491/mecademic_robot_node/src/mecademic_robot_driver/__init__.py -------------------------------------------------------------------------------- /mecademic_robot_node/src/mecademic_robot_driver/mecademic_robot_driver.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python3 2 | import rospy 3 | from geometry_msgs.msg import Pose 4 | from sensor_msgs.msg import JointState 5 | from std_msgs.msg import String, Bool, UInt8MultiArray 6 | from MecademicRobot import RobotController, RobotFeedback 7 | 8 | 9 | class MecademicRobot_Driver(): 10 | """ROS Mecademic Robot Node Class to make a Node for the Mecademic Robot 11 | 12 | Attributes: 13 | subscriber: ROS subscriber to send command to the Mecademic Robot through a topic 14 | publisher: ROS publisher to place replies from the Mecademic Robot in a topic 15 | MecademicRobot : driver to control the MecademicRobot Robot 16 | """ 17 | 18 | def __init__(self, robot, feedback): 19 | """Constructor for the ROS MecademicRobot Driver 20 | """ 21 | rospy.init_node("MecademicRobot_driver", anonymous=True) 22 | self.joint_subscriber = rospy.Subscriber("MecademicRobot_joint", JointState, self.joint_callback) 23 | self.pose_subscriber = rospy.Subscriber("MecademicRobot_pose", Pose, self.pose_callback) 24 | self.command_subscriber = rospy.Subscriber("MecademicRobot_command", String, self.command_callback) 25 | self.gripper_subscriber = rospy.Subscriber("MecademicRobot_gripper", Bool, self.gripper_callback) 26 | self.reply_publisher = rospy.Publisher("MecademicRobot_reply", String, queue_size=1) 27 | self.joint_publisher = rospy.Publisher("MecademicRobot_joint_fb", JointState, queue_size=1) 28 | self.pose_publisher = rospy.Publisher("MecademicRobot_pose_fb", Pose, queue_size=1) 29 | self.status_publisher = rospy.Publisher("MecademicRobot_status", UInt8MultiArray, queue_size=1) 30 | 31 | self.robot = robot 32 | self.feedback = feedback 33 | 34 | self.socket_available = True 35 | 36 | self.feedbackLoop() 37 | 38 | def __del__(self): 39 | """Deconstructor for the Mecademic Robot ROS driver 40 | Deactivates the robot and closes socket connection with the robot 41 | """ 42 | self.robot.DeactivateRobot() 43 | self.robot.disconnect() 44 | self.feedback.disconnect() 45 | 46 | def command_callback(self, command): 47 | """Forwards a ascii command to the Mecademic Robot 48 | 49 | :param command: ascii command to forward to the Robot 50 | """ 51 | while not self.socket_available: # wait for socket to be available 52 | pass 53 | self.socket_available = False # block socket from being used in other processes 54 | if self.robot.is_in_error(): 55 | self.robot.ResetError() 56 | self.robot.ResumeMotion() 57 | reply = self.robot.exchange_msg(command.data, decode=False) 58 | self.socket_available = True # Release socket so other processes can use it 59 | if reply is not None: 60 | self.reply_publisher.publish(reply) 61 | 62 | def joint_callback(self, joints): 63 | """Callback when the MecademicRobot_emit topic receives a message 64 | Forwards message to driver that translate into real command 65 | to the Mecademic Robot 66 | 67 | :param joints: message received from topic containing position and velocity information 68 | """ 69 | while not self.socket_available: # wait for the socket to be available 70 | pass 71 | reply = None 72 | self.socket_available = False # Block other processes from using the socket 73 | if self.robot.is_in_error(): 74 | self.robot.ResetError() 75 | self.robot.ResumeMotion() 76 | if len(joints.velocity) > 0: 77 | self.robot.SetJointVel(joints.velocity[0]) 78 | if len(joints.position) == 6: 79 | reply = self.robot.MoveJoints(joints.position[0], joints.position[1], joints.position[2], 80 | joints.position[3], joints.position[4], joints.position[5]) 81 | elif len(joints.position) == 4: 82 | reply = self.robot.MoveJoints(joints.position[0], joints.position[1], joints.position[2], 83 | joints.position[3]) 84 | self.socket_available = True # Release the socket so other processes can use it 85 | if reply is not None: 86 | self.reply_publisher.publish(reply) 87 | 88 | def pose_callback(self, pose): 89 | """Callback when the MecademicRobot_emit topic receives a message 90 | Forwards message to driver that translate into real command 91 | to the Mecademic Robot 92 | 93 | :param pose: message received from topic containing position and orientation information 94 | """ 95 | while (not self.socket_available): # wait for socket to become available 96 | pass 97 | reply = None 98 | self.socket_available = False # Block other processes from using the socket while in use 99 | if self.robot.is_in_error(): 100 | self.robot.ResetError() 101 | self.robot.ResumeMotion() 102 | if pose.position.z is not None: 103 | reply = self.robot.MovePose(pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, 104 | pose.orientation.y, pose.orientation.z) 105 | else: 106 | reply = self.robot.MovePose(pose.position.x, pose.position.y, pose.orientation.x, pose.orientation.y) 107 | self.socket_available = True # Release socket so other processes can continue 108 | if reply is not None: 109 | self.reply_publisher.publish(reply) 110 | 111 | def gripper_callback(self, state): 112 | """Controls whether to open or close the gripper. 113 | True for open, False for close 114 | 115 | :param state: ROS Bool message 116 | """ 117 | while not self.socket_available: # wait for socket to be available 118 | pass 119 | self.socket_available = False # Block other processes from using the socket 120 | if self.robot.is_in_error(): 121 | self.robot.ResetError() 122 | self.robot.ResumeMotion() 123 | if state.data: 124 | reply = self.robot.GripperOpen() 125 | else: 126 | reply = self.robot.GripperClose() 127 | self.socket_available = True # Release socket so other processes can use it 128 | if reply is not None: 129 | self.reply_publisher.publish(reply) 130 | 131 | def feedbackLoop(self): 132 | """Retrieves live position feedback and publishes the data 133 | to its corresponding topic. (infinite loop) 134 | """ 135 | while not rospy.is_shutdown(): 136 | try: 137 | # Robot Status Feedback 138 | if self.socket_available: 139 | self.socket_available = False # Block other operations from using the socket while in use 140 | robot_status = self.robot.GetStatusRobot() 141 | gripper_status = self.robot.GetStatusGripper() 142 | self.socket_available = True # Release the socket so other processes can happen 143 | status = UInt8MultiArray() 144 | status.data = [ 145 | robot_status["Activated"], 146 | robot_status["Homing"], 147 | robot_status["Simulation"], 148 | robot_status["Error"], 149 | robot_status["Paused"], 150 | robot_status["EOB"], 151 | robot_status["EOM"], 152 | gripper_status["Gripper enabled"], 153 | gripper_status["Homing state"], 154 | gripper_status["Limit reached"], 155 | gripper_status["Error state"], 156 | gripper_status["force overload"] 157 | ] 158 | self.status_publisher.publish(status) 159 | 160 | # Position Feedback 161 | self.feedback.get_data() 162 | joints_fb = JointState() 163 | joints_fb.position = feedback.joints 164 | pose_fb = Pose() 165 | pose_fb.position.x = feedback.cartesian[0] 166 | pose_fb.position.y = feedback.cartesian[1] 167 | if len(feedback.cartesian) == 4: 168 | pose_fb.orientation.x = feedback.cartesian[2] 169 | pose_fb.orientation.y = feedback.cartesian[3] 170 | else: 171 | pose_fb.position.z = feedback.cartesian[2] 172 | pose_fb.orientation.x = feedback.cartesian[3] 173 | pose_fb.orientation.y = feedback.cartesian[4] 174 | pose_fb.orientation.z = feedback.cartesian[5] 175 | self.joint_publisher.publish(joints_fb) 176 | self.pose_publisher.publish(pose_fb) 177 | except Exception as error: 178 | rospy.logerr(str(error)) 179 | 180 | 181 | if __name__ == "__main__": 182 | robot = RobotController('192.168.0.100') 183 | feedback = RobotFeedback('192.168.0.100', "v8.1.6.141") 184 | robot.connect() 185 | feedback.connect() 186 | robot.ActivateRobot() 187 | robot.home() 188 | driver = MecademicRobot_Driver(robot, feedback) 189 | rospy.spin() 190 | -------------------------------------------------------------------------------- /mecademic_viz/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(mecademic_viz) 3 | 4 | find_package(catkin REQUIRED COMPONENTS) 5 | 6 | catkin_package() 7 | 8 | include_directories( 9 | ${catkin_INCLUDE_DIRS} 10 | ) 11 | -------------------------------------------------------------------------------- /mecademic_viz/launch/view_meca_500_r3_model.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /mecademic_viz/launch/view_robot.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /mecademic_viz/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | mecademic_viz 4 | 1.0.0 5 | The mecademic_viz package 6 | 7 | Mecademic 8 | Dave Niewinski 9 | 10 | MIT 11 | 12 | catkin 13 | joint_state_publisher 14 | mecademic_description 15 | rviz 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /mecademic_viz/rviz/model.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | Splitter Ratio: 0.5 10 | Tree Height: 797 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 17 | - /Publish Point1 18 | Name: Tool Properties 19 | Splitter Ratio: 0.588679016 20 | - Class: rviz/Views 21 | Expanded: 22 | - /Current View1 23 | Name: Views 24 | Splitter Ratio: 0.5 25 | - Class: rviz/Time 26 | Experimental: false 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: "" 30 | Toolbars: 31 | toolButtonStyle: 2 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 160; 160; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.0299999993 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: true 53 | - Alpha: 1 54 | Class: rviz/RobotModel 55 | Collision Enabled: false 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: Links in Alphabetic Order 63 | meca_axis_1_link: 64 | Alpha: 1 65 | Show Axes: false 66 | Show Trail: false 67 | Value: true 68 | meca_axis_2_link: 69 | Alpha: 1 70 | Show Axes: false 71 | Show Trail: false 72 | Value: true 73 | meca_axis_3_link: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | Value: true 78 | meca_axis_4_link: 79 | Alpha: 1 80 | Show Axes: false 81 | Show Trail: false 82 | Value: true 83 | meca_axis_5_link: 84 | Alpha: 1 85 | Show Axes: false 86 | Show Trail: false 87 | Value: true 88 | meca_axis_6_link: 89 | Alpha: 1 90 | Show Axes: false 91 | Show Trail: false 92 | Value: true 93 | meca_base_link: 94 | Alpha: 1 95 | Show Axes: false 96 | Show Trail: false 97 | Value: true 98 | Name: RobotModel 99 | Robot Description: robot_description 100 | TF Prefix: "" 101 | Update Interval: 0 102 | Value: true 103 | Visual Enabled: true 104 | - Class: rviz/TF 105 | Enabled: false 106 | Frame Timeout: 15 107 | Frames: 108 | All Enabled: true 109 | Marker Scale: 1 110 | Name: TF 111 | Show Arrows: true 112 | Show Axes: true 113 | Show Names: true 114 | Tree: 115 | {} 116 | Update Interval: 0 117 | Value: false 118 | Enabled: true 119 | Global Options: 120 | Background Color: 48; 48; 48 121 | Default Light: true 122 | Fixed Frame: meca_base_link 123 | Frame Rate: 30 124 | Name: root 125 | Tools: 126 | - Class: rviz/Interact 127 | Hide Inactive Objects: true 128 | - Class: rviz/MoveCamera 129 | - Class: rviz/Select 130 | - Class: rviz/FocusCamera 131 | - Class: rviz/Measure 132 | - Class: rviz/SetInitialPose 133 | Topic: /initialpose 134 | - Class: rviz/SetGoal 135 | Topic: /move_base_simple/goal 136 | - Class: rviz/PublishPoint 137 | Single click: true 138 | Topic: /clicked_point 139 | Value: true 140 | Views: 141 | Current: 142 | Class: rviz/Orbit 143 | Distance: 0.840920627 144 | Enable Stereo Rendering: 145 | Stereo Eye Separation: 0.0599999987 146 | Stereo Focal Distance: 1 147 | Swap Stereo Eyes: false 148 | Value: false 149 | Focal Point: 150 | X: 0.255677342 151 | Y: -0.00529691018 152 | Z: 0.329776019 153 | Focal Shape Fixed Size: true 154 | Focal Shape Size: 0.0500000007 155 | Invert Z Axis: false 156 | Name: Current View 157 | Near Clip Distance: 0.00999999978 158 | Pitch: 0.504797339 159 | Target Frame: 160 | Value: Orbit (rviz) 161 | Yaw: 0.476867557 162 | Saved: ~ 163 | Window Geometry: 164 | Displays: 165 | collapsed: false 166 | Height: 1000 167 | Hide Left Dock: false 168 | Hide Right Dock: true 169 | QMainWindow State: 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170 | Selection: 171 | collapsed: false 172 | Time: 173 | collapsed: false 174 | Tool Properties: 175 | collapsed: false 176 | Views: 177 | collapsed: true 178 | Width: 1215 179 | X: 65 180 | Y: 24 181 | -------------------------------------------------------------------------------- /mecademic_viz/rviz/robot.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | Splitter Ratio: 0.5 10 | Tree Height: 797 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 17 | - /Publish Point1 18 | Name: Tool Properties 19 | Splitter Ratio: 0.588679016 20 | - Class: rviz/Views 21 | Expanded: 22 | - /Current View1 23 | Name: Views 24 | Splitter Ratio: 0.5 25 | - Class: rviz/Time 26 | Experimental: false 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: "" 30 | Toolbars: 31 | toolButtonStyle: 2 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 160; 160; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.0299999993 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 10 51 | Reference Frame: 52 | Value: true 53 | - Alpha: 1 54 | Class: rviz/RobotModel 55 | Collision Enabled: false 56 | Enabled: true 57 | Links: 58 | All Links Enabled: true 59 | Expand Joint Details: false 60 | Expand Link Details: false 61 | Expand Tree: false 62 | Link Tree Style: Links in Alphabetic Order 63 | meca_axis_1_link: 64 | Alpha: 1 65 | Show Axes: false 66 | Show Trail: false 67 | Value: true 68 | meca_axis_2_link: 69 | Alpha: 1 70 | Show Axes: false 71 | Show Trail: false 72 | Value: true 73 | meca_axis_3_link: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | Value: true 78 | meca_axis_4_link: 79 | Alpha: 1 80 | Show Axes: false 81 | Show Trail: false 82 | Value: true 83 | meca_axis_5_link: 84 | Alpha: 1 85 | Show Axes: false 86 | Show Trail: false 87 | Value: true 88 | meca_axis_6_link: 89 | Alpha: 1 90 | Show Axes: false 91 | Show Trail: false 92 | Value: true 93 | meca_base_link: 94 | Alpha: 1 95 | Show Axes: false 96 | Show Trail: false 97 | Value: true 98 | Name: RobotModel 99 | Robot Description: robot_description 100 | TF Prefix: "" 101 | Update Interval: 0 102 | Value: true 103 | Visual Enabled: true 104 | - Class: rviz/TF 105 | Enabled: false 106 | Frame Timeout: 15 107 | Frames: 108 | All Enabled: true 109 | Marker Scale: 1 110 | Name: TF 111 | Show Arrows: true 112 | Show Axes: true 113 | Show Names: true 114 | Tree: 115 | {} 116 | Update Interval: 0 117 | Value: false 118 | Enabled: true 119 | Global Options: 120 | Background Color: 48; 48; 48 121 | Default Light: true 122 | Fixed Frame: meca_base_link 123 | Frame Rate: 30 124 | Name: root 125 | Tools: 126 | - Class: rviz/Interact 127 | Hide Inactive Objects: true 128 | - Class: rviz/MoveCamera 129 | - Class: rviz/Select 130 | - Class: rviz/FocusCamera 131 | - Class: rviz/Measure 132 | - Class: rviz/SetInitialPose 133 | Topic: /initialpose 134 | - Class: rviz/SetGoal 135 | Topic: /move_base_simple/goal 136 | - Class: rviz/PublishPoint 137 | Single click: true 138 | Topic: /clicked_point 139 | Value: true 140 | Views: 141 | Current: 142 | Class: rviz/Orbit 143 | Distance: 0.840920627 144 | Enable Stereo Rendering: 145 | Stereo Eye Separation: 0.0599999987 146 | Stereo Focal Distance: 1 147 | Swap Stereo Eyes: false 148 | Value: false 149 | Focal Point: 150 | X: 0.255677342 151 | Y: -0.00529691018 152 | Z: 0.329776019 153 | Focal Shape Fixed Size: true 154 | Focal Shape Size: 0.0500000007 155 | Invert Z Axis: false 156 | Name: Current View 157 | Near Clip Distance: 0.00999999978 158 | Pitch: 0.504797339 159 | Target Frame: 160 | Value: Orbit (rviz) 161 | Yaw: 0.476867557 162 | Saved: ~ 163 | Window Geometry: 164 | Displays: 165 | collapsed: false 166 | Height: 1000 167 | Hide Left Dock: false 168 | Hide Right Dock: true 169 | QMainWindow State: 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170 | Selection: 171 | collapsed: false 172 | Time: 173 | collapsed: false 174 | Tool Properties: 175 | collapsed: false 176 | Views: 177 | collapsed: true 178 | Width: 1215 179 | X: 65 180 | Y: 24 181 | --------------------------------------------------------------------------------