This repo is for the single arm harvesing robot
Modular design is considered in this repo.
Several ros2 packages are list:
| Package name | function | In/Out |
|---|---|---|
| harvest_arm_rm | The driver package for the arm (take the realman-rm75 for an example). Receive joint command, and feedback arm state. | IN: /action/arm, the command including enable, target joint, and tool. Out: /Observation/arm, the state of the robot, including measured arm joint positions, joint speed, timer counter, etc. |
| harvest_arm_ctrl | The kinematic part of the arm, containing forward/inverse kinematics. Transformation from pose to joint. The security regulations/constraints are deployed. | - |
| harvest_arm_retarget | Transformation among different frames. Convert target into robot arm frame. | - |
Build
mkdir -p ~/harvest_arm_ws/src
cd ~/harvest_arm_ws/src
git clone https://git.nicecart.ai/ZhengLiu-cart/HarvestingRealman.git
cd ~/harvest_arm_ws
colcon build --symlink-install
Run
ros2 launch harvest_arm_rm rm_arm_rviz.launch.py