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遨博(Aubo)机器人

参考Aubo_robot ROS meta-package updat time:2019.013

This repository provides ROS support for Aubo robots. This repository holds source code for kinetic. The corresponding robot controller software version is V

Installation from Source:

First set up a catkin workspace (see this tutorials).

Then clone the repository into the src/ folder. It should look like /user_name/catkin_workspace/src/aubo_robot.

In order to compile the package successfully, you need to install some packages related to MoveIt and industrial_core package.

Make sure to source the correct setup file according to your workspace hierarchy, then use catkin_make to compile.

updat Moveit_core_lib : enter the direction /user_name/catkin_workspace/src/aubo_robot/UpdateMoveitLib/Kinetic/,Add permissions to the Update.sh filechmod +x Update.sh , Execution script file sudo http://aubo-robotgongboshi.com/news/Update.sh

The recommended gcc version is 8 for Ubuntu 104; And for Ubuntu 104, the gcc version is

MoveIt! with a simulated robot

You can use MoveIt! to control the simulated robot like Rviz ,Gazebo or Vrep environment. If you want to simulate the robot in Rviz:

First set up the MoveIt nodes to allow motion planning and run:

Rviz

roslaunch _moveit_config moveit_planning_execution.launch robot_ip:=120.0.1

1

Gazebo

roslaunch aubo_gazebo aubo__gazebo_control.launch

1

you should install some package when you use Aubo model in Gazebo here.

Then selec "Interact" and move the end-effector to a new goal.

In "Motion Planning" -> "Plan and Execute" to send trajectory to the sim robot.

Exit RViz and Ctrl-C the demo.launch window.

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