Quickstart on MoveIt!¶

Quickstart¶

Preparation

Open a new terminal:
```
$ source ~/catkin_ws/devel/setup.bash
```

Start RViz and MoveGroup node

Caution

To make sure that the emergency stop button is NOT pressed because motor does not become on.

Try:

$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch

Parallel gripper:

$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch gripper_type:=parallel

Vacuum gripper:

$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch gripper_type:=vacuum

Run the sample script

Open a new terminal:

$ source ~/catkin_ws/devel/setup.bash

Install the dependent package:

$ sudo apt install ros-$(rosversion -d)-moveit-python

Try:

$ python ~/catkin_ws/src/denso_cobotta_ros/scripts/packing_pose.py
  ...
  0: Old packing pose, 1: New packing pose, 2: Home pose, Others: Exit
  Select the value:

Enter 2 for a trial.

LED¶

The color of LED display the state of COBOTTA.

Color	State
Green	No error: the motor is running or it is possible to be turned ON.
Yellow	Robot error
Red	Safe State, SafetyMCU error, Emergency stop

CALSET¶

Calibrating the relationship between position information recognized by the robot controller and the actual position of the robot arm is called CALSET.

Edit the RANG value

Look at the QR code side of COBOTTA:
```
CVR038A1-*****,J1:<a>,J2:<b>,J2:<b>,J3:<c>,J4:<d>,J5:<e>,J6:<f>
```
Edit <a>, <b>, <c>, <d>, <e>, <f> to denso_cobotta_ros/denso_cobotta_driver/config/parameters.yaml:
```
rang_value:
- <a>
- <b>
- <c>
- <d>
- <e>
- <f>
```

Run the denso_cobotta_driver node

Try:

$ roslaunch denso_cobotta_driver denso_cobotta_driver.launch

CALSET

Enter the CALSET command:
```
$ rosservice call /cobotta/exec_calset
```
Run MoveIt

Caution

To make sure that the emergency Stop button is NOT pressed because Motor does not become on.

Try:
```
$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch [gripper_type:=parallel|vacuum]
```

Simulation¶

The following section will help you to simulate COBOTTA on Gazebo.

Important

Gazebo system requirements:

A dedicated GPU,
- Nvidia cards tend to work well in Ubuntu
A CPU that is at least an Intel I5, or equivalent,
At least 500MB of free disk space,
Ubuntu Trusty or later installed.

COBOTTA has Atom CPU and no graphics card, so it doesn’t meet the requirements of Gazebo. Do Gazebo simulation on your PC.

Install the dependent package:

$ sudo apt install ros-$(rosversion -d)-gazebo-ros-control

Try:

$ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch sim:=true gripper_type:=none