This document describe lebai-ros-sdk on ROS Noetic(Ubuntu 20.04)

Prerequsite

As a ROS package, you need firstly install ROS .

1. Install ROS follow official guide(ros-noetic-desktop-full is sugguested).

2. Now the communication to real robot in lebai-ros-sdk is written in python, based on the lebai-python-sdk, So we need install it.

   pip3 install lebai
   

3. The lebai-ros-sdk depends on ROS Industrial, Currently ROS industrial doesn't have debian package(Due to some dependencies are broken). So we need install it from source code as folow:

   cd ~/catkin_ws/src
   git clone https://github.com/ros-industrial/industrial_core.git 
   cd industrial_core
   # broken dependencies
   rm -rf industrial_trajectory_filters
   # try to run cakint_make to build it. It should success.
   cd ~/catkin_ws
   catkin_make
   

4. If you want to play with MoveIt, you need to install MoveIt package(optional)

   sudo apt install ros-noetic-moveit

Get the lebai-ros-sdk

checkout out package and run catkin_make

cd ~/catkin_ws/src
## TODO replace with github url
git clone [email protected]:lebai-robotics/lebai-ros-sdk.git -b noetic-dev
cd ~/catkin_ws
catkin_make

Unit Test

All the python driver code is in package lebai_driver, it contains an unit test.

To run this unit test, you need to have a simulation rc-master running.

You can use a real robot to run this test, but the test will cause the real robot moving, you must guarantee the move do not cause any damage yourself.

Before you run the test, you need to set the robot ip of the simulation rc-master:

roscd lebai_driver/test
### edit the file test_lebai_driver.launch
### modify the robot_ip according  to real scene.
###
### <arg name="robot_ip" value="192.168.1.104" /> ###
###

Then, you can run the test

cd ~/catkin_ws/
catkin_make run_tests_lebai_driver

How to run

To connect a real lebai robot, you must have a lebai robot controller running with network access.

Run driver without gui display (lm3 as an example)

roslaunch lebai_lm3_support robot_interface_lm3.launch robot_ip:=your_robot_ip has_gripper:=0

robot_ip is the robot's physical IP address.

has_gripper depends on whether gripper is mounted on the end.

Run driver with gui display (lm3 as an example)

roslaunch lebai_lm3_support robot_interface_lm3_with_visual.launch robot_ip:=your_robot_ip has_gripper:=0

robot_ip is the robot's physical IP address.

has_gripper depends on whether gripper is mounted on the end.

Connect lm3 with MoveIt

roslaunch lebai_lm3_moveit_config real_robot.launch robot_ip:=your_robot_ip

robot_ip is the robot's physical IP address.