ReadMe_others

For Chinese version: 简体中文版说明

Important Notice:

This ReadMe is for new(Lite 6) and future UFACTORY product models other than xArm series. Here use "lite6" as example.

If you have used "xarm_ros" for xArm series before, the main differences for new UFACTROY models are:

• Default namespace has changed from xarm to ufactory;

• Robot full-state report topic name has changed from xarm_states to robot_states;

1. Simulations

1.1 Simple Rviz visualization:

$ roslaunch xarm_description lite6_rviz_display.launch

The robot model will appear in Rviz window and "joint state publisher" panel can be used to adjust the posture of that robot.

1.2 Load robot model in Gazebo environment:

$ roslaunch xarm_gazebo lite6_beside_table.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

Gazebo will be launched and virtual robot will be mounted on a table, add_gripper and add_vacuum_gripper are optional arguments. However, only one end tool should be installed.

1.3 Moveit simulation:

Without Gazebo:

$ roslaunch lite6_moveit_config demo.launch [add_gripper:=true] [add_vacuum_gripper:=true]

With Gazebo:

In the first terminal, run:

$ roslaunch xarm_gazebo lite6_beside_table.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

Then in another terminal:

$ roslaunch lite6_moveit_config lite6_moveit_gazebo.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

In this way, the simulated robot in gazebo can execute planned trajectory generated by Moveit.

2. Controlling Real Robot

2.1 ROS service control:

First bring up the UFACTORY ros driver:

$ roslaunch xarm_bringup lite6_server.launch robot_ip:=192.168.1.xxx (your robot IP)

Then, please refer to xarm_api/xarm_msgs part, the concepts, provided services or messages are all the same except the default namespace for non-xArm series is ufactory rather than xarm. For example, to call the service of enabling all joints:

$ rosservice call /ufactory/motion_ctrl 8 1

All the xArm services (joint/cartesian motion, velocity motion, servo motions, etc) including mode operations can be directly used on new models like Lite 6, just replace previous namespace /xarm with /ufactory.

Another difference from xArm version is the topic /xarm/xarm_states has been changed to /ufactory/robot_states (with default namespace attached).

2.2 Moveit control:

First make sure the robot and controller box are powered on, then execute:

$ roslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.1.xxx [add_gripper:=true] [add_vacuum_gripper:=true]

add_gripper and add_vacuum_gripper are optional available arguments if you have installed UFACTORY provided tool accessory. Only one end tool shall be installed. Below is the network diagram from rqt_graph output:

uf_moveit_rqt_graph

重要说明:

这篇ReadMe适用于UFACTORY xArm系列之外的产品(如Lite 6)，本说明使用 "lite6" 作为例子。

如果您之前已经使用过 "xarm_ros" 开发 xArm 系列产品, 对于UFACTORY其他系列的ros开发，方法和操作大同小异，主要的区别在于:

• 默认的命名空间从 xarm 更改为 ufactory;

• 机械臂全状态反馈的话题(topic) 名称由 xarm_states 更改为 robot_states;

1. 仿真

1.1 简单的Rviz可视化:

$ roslaunch xarm_description lite6_rviz_display.launch

运行之后，机械臂的模型会出现在Rviz界面中，"joint state publisher" 面板可以用来调整手臂的位姿。

1.2 Gazebo环境中加载仿真模型:

$ roslaunch xarm_gazebo lite6_beside_table.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

Gazebo启动后, 虚拟机械臂会放置在桌子边沿位置，add_gripper 和 add_vacuum_gripper 是另外的可选参数，可以根据需要给定true来加载UFACTORY官方的夹爪或吸头的配件模型，注意只能加载一款末端执行器。

1.3 Moveit规划仿真:

如果不使用Gazebo:

$ roslaunch lite6_moveit_config demo.launch [add_gripper:=true] [add_vacuum_gripper:=true]

如果使用Gazebo:

打开一个终端, 执行:

$ roslaunch xarm_gazebo lite6_beside_table.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

然后，在另一个终端中执行:

$ roslaunch lite6_moveit_config lite6_moveit_gazebo.launch [add_gripper:=true] [add_vacuum_gripper:=true] 

这样，Gazebo中的虚拟手臂可以执行Moveit在Rviz界面中的规划路径。

2. 控制真实机械臂

2.1 ROS service 控制:

首先启动 UFACTORY ROS 驱动:

$ roslaunch xarm_bringup lite6_server.launch robot_ip:=192.168.1.xxx (your robot IP)

然后，请认真阅读和参考xarm_api/xarm_msgs 部分, 其中的概念、提供的服务和定义的消息类型都是和xarm一致的，除了默认的命名空间是 ufactory 而不是 xarm。举例来说，对于非xArm系列如Lite6手臂，调用全部关节使能服务的方法为:

$ rosservice call /ufactory/motion_ctrl 8 1

所有xArm适用的服务(关节/笛卡尔运动, 速度模式运动, servo运动等等)以及 模式操作都可以使用在Lite 6 型号中, 调用方法很简单，将之前说明中的/xarm命名空间替换为/ufactory就好。

另一个值得注意的变化是xArm系列使用的话题 /xarm/xarm_states 被修改为 /ufactory/robot_states (已带上默认命名空间)。

2.2 Moveit 规划控制:

首先确认手臂已经正确上电, 然后执行:

$ roslaunch lite6_moveit_config realMove_exec.launch robot_ip:=192.168.1.xxx [add_gripper:=true] [add_vacuum_gripper:=true]

add_gripper 和 add_vacuum_gripper 是另外的可选参数，可以根据需要给定true来加载UFACTORY官方的夹爪或吸头的配件模型，注意只能加载一款末端执行器。下图是来自rqt_graph输出的网络结构示意图:

uf_moveit_rqt_graph