FUN4 6562

FUN4: Hello world

System architecture

Package requirement

Please Install this follower Package on your environment

• Teleop_twist_keyboard for control manipulator But it also have this Package in this git

Setup environment

1. Clone workspace :

git clone https://github.com/Aitthikit/FUN4_6562.git

2. Navigate to the workspace directory :

cd FUN4_6562

3. Remove build install log(if it have in workspace) :

rm -rf build/ install/ log/

4. Build :

colcon build

5. Source workspace :

source install/setup.bash

Run

1. Run launch file :

ros2 launch example_description all_launch.py

2. Use service to select mode

ros2 service call /mode robot_interface/srv/Mode "mode:
  data: 2
point:
  layout:
    dim: []
    data_offset: 0
  data: [0.0,0.0,0.0]
mode_tele:
  data: 1" 

• mode

  • data: 1 = Inverse Pose Kinematics (IPK)
  • data: 2 = Teleoperation
  • data: 3 = Auto

• point (use for point target to mode Inverse Pose Kinematics (IPK))

  • data: [x,y,z] (only float format)

• mode_tele (use for select in mode Auto)

  • data: 1 = Reference to base
  • data: 2 = Reference to end-effector

  like example is select mode Teleoperation and mode_tele Reference to base

3. Interface monitor

ros2 topic echo /singularity_notify

4. Teleop_keyboard to control mode Teleoperation

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Bugfix

1. Do not forget to close this monitor before service call
   • 
2. Do not forget to Source workspace :

source install/setup.bash