neranger / denso_robot_ros

denso_robot_ros usage

Environment

• Ubuntu distro: 16.04 LTS
• ROS distro: kinetic

Set static ip

The default IP address of COBOTTA is

192.168.0.1

You can set static IP address to

192.168.0.2

Static IP configuration method:

https://www.jianshu.com/p/d69a95aa1ed7

You can use the following command in bash to confrim connection

ping 192.168.0.1

Download source code

git clone https://github.com/NERanger/denso_robot_ros.git

Launch

1.Use teaching panel to perform CALSET (initialize joint position)

If you launch the ros driver without CALSET, the following errors are highly possible to occur, which makes COBOTTA unavailable

[ERROR] [1553080035.957341120]: Failed to motor on. (84500073)

[ERROR] [1553080051.802591987]: Action client not connected: cobotta/arm_controller/follow_joint_trajectory

After CALSET every joint will be at/exceed its software limit, which may cause the following error

[ERROR]Failed to write (80000900)

When the error occurs COBOTTA could not move anymore

Known solution to this problem is that to use teaching panel to hold back every joint a little, then COBOTTA can be launched normally

2.Launch COBOTTA ros driver

roslaunch denso_robot_bringup cobotta_bringup.launch sim:=false ip_address:=192.168.0.1

3.Perform motion planning

Sometimes a goal will cause "Failed to Write" error, I guess it is due to the exceed of joint software limit. When this error occurs, you need to relaunch the ros driver

4.Move gripper

Current version does not provide the function to move the gripper in moveit, but there is a offical solution for current use

roslaunch denso_robot_bringup <launch file of COBOTTA> sim:=false ip_address:=<COBOTTA's IP Address>

roslaunch bcap_service bcap_service.launch ip_address:=<COBOTTA's IP Address>

rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }'

After these steps the following feedback from cobotta is expected

HRESULT: 0 vntRet: vt: 19 value: " "

The following command moves the gripper to maximum width (30mm).

Target width depends on the last parameter

value:"30, 100"

rosservice call /bcap_service '{func_id: 17, vntArgs: [{vt: 19, value: "<controller handle>"}, {vt: 8, value: "HandMoveA"}, {vt: 8195, value: "30, 100"}] }'

others

These 2 errors can be ignored

[ERROR] [1553080074.135850]: Execution failed: [Errno 2] No such file or directory

ERROR: cannot launch node of type [warehouse_ros/mongo_wrapper_ros.py]: can't locate node [mongo_wrapper_ros.py] in package [warehouse_ros]

Issues

https://github.com/DENSORobot/denso_robot_ros/issues