Quickstart on MoveIt!

Quickstart

  1. Preparation

    Open a new terminal:

    $ source ~/catkin_ws/devel/setup.bash
    
  2. 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
      
  3. Run the sample script

    Open a new terminal:

    $ source ~/catkin_ws/devel/setup.bash
    

    Install the dependent package:

    $ sudo apt install ros-kinetic-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.

  1. 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>
    
  2. Run the denso_cobotta_driver node

    Try:

    $ roslaunch denso_cobotta_driver denso_cobotta_driver.launch
    
  3. CALSET

    Enter the CALSET command:

    $ rosservice call /cobotta/exec_calset
    
  4. 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-kinetic-gazebo-ros-control

Try:

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