32 lines
1.2 KiB
Markdown
32 lines
1.2 KiB
Markdown
### This repo is for the single arm harvesing robot
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Modular design is considered in this repo.
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Several ros2 packages are list:
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---------------------------------------------------
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| Package name | function | In/Out |
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| -------- | -------- | -------- |
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| 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. |
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| harvest_arm_ctrl | The kinematic part of the arm, containing forward/inverse kinematics. Transformation from pose to joint. The security regulations/constraints are deployed. | - |
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| harvest_arm_retarget | Transformation among different frames. Convert target into robot arm frame. | - |
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------------------------------------------------------------------
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### Build
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```
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mkdir -p ~/harvest_arm_ws/src
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cd ~/harvest_arm_ws/src
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git clone https://git.nicecart.ai/ZhengLiu-cart/HarvestingRealman.git
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cd ~/harvest_arm_ws
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colcon build --symlink-install
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```
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### Run
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`ros2 launch harvest_arm_rm rm_arm_rviz.launch.py`
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