Running on ROS Humble
How to run:
- docker-compose up --build --d
- docker-compose exec cyton_service bash
Notes:
sudo chmod 777 /dev/ttyUSB0
Cyton consists of: - 1 MX-64 dynamixel - 6 MX-28 dynamixels - 1 AX-12A dynamixels
ros2 launch cyton_moveit bajor_move_group.launch.py
ros2 launch cyton_moveit bajor_moveit_rviz.launch.py
ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7], points: [ { positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], time_from_start: { sec: 5, nanosec: 0 } }, ] } }"
ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{ trajectory: { joint_names: [joint1, joint2, joint3, joint4, joint5, joint6, joint7], points: [ { positions: [-0.8053399324417114, 0.21, -0.09357283264398575, -0.5798447728157043, 2.63077712059021, -1.7272623777389526, -0.4724660813808441], time_from_start: { sec: 5, nanosec: 0 } }, ] } }"
[-0.8053399324417114, 0.19328159093856812, -0.09357283264398575, -0.5798447728157043, 2.63077712059021, -1.7272623777389526, -0.4724660813808441, 0.015929520452224677]
ros2 run teleop_twist_keyboard teleop_twist_keyboard /cmd_vel:=/diff_drive_controller/cmd_vel_unstamped
Issues: Drgania - Nie można zapisać PID serw do uruchomienia, brak sterowania prędkością Problem z zegarem symulacji