Youbot driver ros interfaces

I access my ros running robot wirelessly using secure shell ssh. To set a setpoint or read some sensor values form the joints you have to use the youbot jointdata classes. Known supported distros are highlighted in the buttons above. Its kind of tedious to open a lot of shells just to keep this services on. With this wrapper, the base and the arm of the youbot can be moved by sending ros messages. These packages complement the packages released by kuka available from the kuka youbot store. Running roscore and launching ros nodes as background. Hi, the debian package for the youbotdriverrosinterface did not work yet because of missing run time dependencies. To run my program, i have to first run all the startup scripts such as roscore and my robots driver. What is the best hardware interface system for a new robot project. By the classes youbot youbotbase and youbot youbotmanipulator it is possible to get access to a youbot youbotjoint instance for a particular joint. Before installing the stack, there are several addition ros packages that must be installed globally on the system. First, make sure that you have the gnumake software available on your system version 3. Youbot motor controllers each joint has its own motor controller, wich contains.

With the next ros debian update cycle hopefully this should be fixed. All users are invited to study the source to get an understanding how an ethercat master functions and how it interacts with ethercat slaves. Look up text string that belongs to al status code. With the drivers installed, you can now write lowerlevel controllers with the youbot api, however you still need kukas youbot ros stack in order to use control the youbot via ros. Controlling the kuka youbot arm with a dual shock 4 youtube. It provides a closed form ik, which only calculates the end configuration of the joints based on the actual position of the arm. Hi wnowak, i am working with ros, i try to program kuka youbot. The occupancy grid can support 3 different representations for the state of a cell. With this wrapper you can move the base and the arm of the youbot by sending ros messages. So far it is recommended to compile it yourself, as described here the second problem with the error no socket connection on eth0 is usually due to. Launch files and scripts needed to bring ros interfaces for nao up into a running state. Making my own autonomous robot in ros gazebo, day 2. The usage of the youbot liveusb is not limited to the onboard pc of the kuka youbot, however, it may be difficult to install it on some pcs due to graphic card drivers. This package provides a ros wrapper for the kuka youbot drivers.

When this shows the message that the robot is initialized, start in another terminal while the youbot driver keeps running. The second solution named custom ros controller requires that you build your own webots controller that will also be a ros node using webots and ros. The internal pc of the youbot for example does have two interfaces, so you will always get two different names. If the ethercat devices are connected to the second interface or to an interface with a different name, you have to edit the configuration file. The ros wrapper of the youbot driver or kuka youbot api provides an interface of the youbot driver to the ros framework. The proprioceptive sensor measurements like odometry and joint angles of the youbot arm and the wheels are published on ros topics. For more information and comparisons with other ros industrial drivers, see the hardwarecompatibility page. If you encounter this issue we advise you to install the normal ubuntu instalation and install ros and youbot packages manually. It implements an ethercat master based on the free soem library, tailored to the specific ethercat protocol of the youbot.

For ros a wrapper of the driver exists that allows to control the robot via. I installed ros indigoyoubotdriverrosinterface but it shows me error. Failed to get question list, you can ticket an issue here. It also has a software emergency stop and a command velocity safety node.