bryan has made some changes:

• shebangin' on that python3 the way the ubuntu gods intended
• fake roscontrol interface in radians
• deleted a wayward cmakelists in the root that called the roskinetic catkin cmake...? colcon wouldnt build it so I got rid of it.
• fixed a missing return in drflex.h
• reduced publisher and subscriber buffering to 1 message in /command topics.
• installed python library DSR_ROBOT so there no more relative import horrors
• added a realtime example (untested!)

bryan other notes

• Watch out for the emulator not coming up fast enough for the driver to connect to it, get around that by running it a priori: rosrun common run_dcrf_noetic.sh

• I didnt really read too hard when I converted the command to radians, so it could break other services.That's a future bryan problem.

• Ros control interface is faked for commands:
  dsr_hw_interface.cpp does this on line 732:
  m_sub_joint_position = private_nh_.subscribe("dsr_joint_position_controller/command", 10, &DRHWInterface::positionCallback, this);

  and of course DRHWInterface::positionCallback just calls amovej() on line 1067:
  Drfl.amovej(target_pos.data(), 50, 50);

bryan #TODOs

• write a velocity interface using RT components.
• tweak the RT services so that they can time out, seeing as how UDP is stateless and those commands can simply disappear into the void.

Doosan Robotics

overview

Doosan ROS Video

Doosan ROS Online Lecture(Kor)
Doosan ROS Online Lecture(Eng)

build

Doosan Robot ROS Package is implemented at ROS-Kinetic.

### We recoomand the /home/<user_home>/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/doosan-robotics/doosan-robot
rosdep install --from-paths doosan-robot --ignore-src --rosdistro kinetic -r -y
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

package list

sudo apt-get install ros-kinetic-rqt* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-ros-controllers ros-kinetic-ros-control ros-kinetic-serial

packages for mobile robot

sudo apt-get install ros-kinetic-lms1xx ros-kinetic-interactive-marker-twist-server ros-kinetic-twist-mux ros-kinetic-imu-tools ros-kinetic-controller-manager ros-kinetic-robot-localization

usage

Operation Mode

Virtual Mode

If you are driveing without a real robot, use virtual mode
When ROS launches in virtual mode, the emulator(DRCF) runs automatically.

(DRCF) location: doosan-robot/common/bin/ DRCF

roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual

One emulator is required for each robot

Real Mode

Use real mode to drive a real robot
The default IP of the robot controller is 192.168.127.100 and the port is 12345.

roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.127.100 port:=12345

---

dsr_description

roslaunch dsr_description m0609.launch    
roslaunch dsr_description m1013.launch color:=blue # Change Color
roslaunch dsr_description m1509.launch gripper:=robotiq_2f # insert robotiq gripper
roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f # change color & insert robotiq gripper
roslaunch dsr_description a0509.launch 

$ roslaunch dsr_description m1013.launch

• In dsr_description, the user can use joint_state_publisher to move the robot.
• joint_state_publisher

$ roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f

---

dsr_moveit_config

arguments

color:= ROBOT_COLOR <white / blue> defalut = white

roslaunch moveit_config_m0609 m0609.launch
roslaunch moveit_config_m0617 m0617.launch
roslaunch moveit_config_m1013 m1013.launch color:=blue
roslaunch moveit_config_m1509 m1509.launch
roslaunch moveit_config_a0509 a0509.launch

---

dsr_control (default model:= m1013, default mode:= virtual)

arguments

host := ROBOT_IP defalut = 127.0.0.1 port := ROBOT_PORT default = 12345
mode := OPERATION MODE <virtual / real> defalut = virtual
model := ROBOT_MODEL <m0609 / 0617 / m1013 / m1509 / a0509 / a0912 / h2017 / h2515> defalut = m1013
color := ROBOT_COLOR <white / blue> defalut = white
gripper := USE_GRIPPER <none / robotiq_2f> defalut = none
mobile := USE_MOBILE <none / husky> defalut = none

dsr_moveit

roslaunch dsr_launcher dsr_moveit.launch
roslaunch dsr_launcher dsr_moveit.launch model:=m0609 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m0617 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1013 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=m1509 mode:=virtual
roslaunch dsr_launcher dsr_moveit.launch model:=a0509 mode:=virtual

dsr_moveit + gazebo

roslaunch dsr_launcher dsr_moveit_gazebo.launch

How to use MoveIt Commander

You can run Moveit with CLI commands through the moveit commander package.

You can install the "moveit_commander" package using below command.

sudo apt-get install ros-kinetic-moveit-commander

MoveitCommander usage example

roslaunch dsr_launcher dsr_moveit.launch model:=m1013
In another terminal 
ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description   

moveit commander CLI is executed.

> use arm 
> goal0 = [0 0 0 0 0 0]        # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0]  # save the target position to varialbe "goal1" / radian
> go goal1                     # plan & excute (the robot is going to move target position)
> go goal0                     # paln & excute (the robot is going to move home position)

---

dsr_launcher

If you don`t have real doosan controller, you must execute emulator before run dsr_launcer.

arguments

host:= ROBOT_IP defalut = 127.0.0.1 ##controller IP = 192.168.127.100 port:= ROBOT_PORT default = 12345
mode:= OPERATION MODE <virtual / real> defalut = virtual
model:= ROBOT_MODEL <m0609 / m0617 / m1013 / m1509 / a0509> defalut = m1013
color:= ROBOT_COLOR <white / blue> defalut = white
gripper:= USE_GRIPPER <none / robotiq_2f> defalut = none
mobile:= USE_MOBILE <none / husky> defalut = none

roslaunch dsr_launcher single_robot_rviz.launch host:=127.0.0.1 port:=12345 mode:=virtual model:=m1013 color:=blue gripper:=none mobile:=none
roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.127.100
roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky
roslaunch dsr_launcher multi_robot_rviz.launch
roslaunch dsr_launcher multi_robot_gazebo.launch model:=m0609
roslaunch dsr_launcher multi_robot_rviz_gazebo.launch

---

dsr_example

single robot

<launch>
  - single robot in rviz : 
  roslaunch dsr_launcher single_robot_rviz.launch model:=m1013 color:=white
  - single robot in gazebo : 
  roslaunch dsr_launcher single_robot_gazebo.launch model:=m1013 color:=blue
  - single robot in rviz + gazebo : 
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
<run application node>
  rosrun dsr_example_py single_robot_simple.py dsr01 m1013
<ex>
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
  rosrun dsr_example_py single_robot_simple.py

$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch

$ rosrun dsr_example_py single_robot_simple.py

multi robot

<launch>
  - multi robot in rviz : 
  roslaunch dsr_launcher multi_robot_rviz.launch
  - multi robot in gazebo : 
  roslaunch dsr_launcher multi_robot_gazebo.launch
  - multi robot in rviz + gazebo : 
  roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
<run application node>
  rosrun dsr_example_py multi_robot_simple.py
<ex>
    roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
    rosrun dsr_example_py multi_robot_simple.py  

$ roslaunch dsr_launcher multi_robot_rviz_gazebo.launch

$ rosrun dsr_example_py multi_robot_simple.py

robot + gripper

insert argument gripper:=robotiq_2f

• single robot + gripper

roslaunch dsr_launcher single_robot_rviz.launch gripper:=robotiq_2f

<run application node>
  rosrun dsr_example_py pick_and_place_simple.py

• Serial Test(Loopback)

rosrun serial_example_node serial_example_node ttyUSB0 115200
rostopic echo /serial_read
rostopic pub /serial_write std_msgs/String 'data: 100'

robot + mobile

insert argument mobile:=husky

• single robot on mobile

roslaunch dsr_launcher single_robot_rviz.launch mobile:=husky
  
<run application node>
  rosrun dsr_example_py single_robot_mobile.py

$ roslaunch dsr_launcher single_robot_rviz mobile:=husky color:=blue

• multi robot on mobile

roslaunch dsr_launcher multi_robot_rviz.launch mobile:=husky

<run application node>
  rosrun dsr_example_py multi_robot_mobile.py  

$ roslaunch dsr_launcher multi_robot_rviz mobile:=husky

gazebo+rviz+virtual

roslaunch dsr_launcher single_robot_rviz_gazebo.launch
rosrun dsr_example_py single_robot_simple.py

  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr01"/> # Robot ID
    <arg name="model" value="m1013"/> # Robot Model
    <arg name="host" value="192.168.127.100"/> # Robot IP
    <arg name="port" value="12345"/> # Robot Port
    <arg name="mode" value="virtual"/> # Robot Controller Mode 
    # Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>
  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr02"/> # Secondary Robot ID
    <arg name="model" value="m1013"/> # Secondary Robot Model
    <arg name="host" value="192.168.127.102"/> # Secondary Robot IP
    <arg name="port" value="12346"/> # Robot Port
    <arg name="mode" value="virtual"/> # Secondary Robot Controller Mode
    # Secondary Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>

Run multi-robot by command line

roslaunch dsr_launcher multi_robot_rviz.launch
rostopic pub /dsr01m1013/joint_position_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 0
    stride: 0
    data_offset: 0
data: [10, 10, 40, 10, 60, 10]"

Service Call

rosservice call /dsr01m1013/motion/move_joint "pos: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
vel: 0.0
acc: 0.0
time: 0.0
radius: 0.0
mode: 0
blendType: 0
syncType: 0"

---

manuals

Manual(Kor)

Manual(Eng)

demo

Doosan-Robots In Gazebo

Doosan-Robots & Mobile in Rviz