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Nishida-Lab / nachi_project

NACHI ROS化の夢プロジェクト
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Request more instruction of setting up and also request for mz04 support #8

Open yaozr opened 8 years ago

yaozr commented 8 years ago

Hi the ros demo looks great! We own a mz04 which we never think about using it with ROS since we never find your project under ros-industrial (why not?)until we happen to notice here today. Is it possible you add mz04 support too?

And we dont know how much extra work need to be done to really drive the Nachi mz04 only from roslaunch, I guess there has to be something done on controller part or selecting sort of server programming in the pad etc? Could you please add a little bit overall instruction of Setting up session in your Readme part for convenience of newbies

Again great job and many thanks for support.

Ry0 commented 8 years ago

Thank you for your comment. We own a mz07, but can't work 'real robot' in this project yet. Because of that, our project doesn't exist under ros-industrial. So, we can not advice you to control real robot.

About robot model creation, you can also get mz04 cad data for free. https://grabcad.com/library/nachi-robotics-mz04-04e-6-axis-industrial-robot-4kg-collaborative-1 Therefore it is easy to make the robot model for rviz visualization and gazebo,etc.

Thanks.

yaozr commented 8 years ago

Many thanks, if we wish to drive the real robot, do you have any tips for us how to move on?

BR

RyodoTanaka commented 8 years ago

There is procedure to move a real robot. The following is that we need.

  1. We need an additional control board on the robot. We control the real robot from program(C++) through that board.
    You can buy that board. But to buy it, you have to make contact with NACHI directly.
  2. We need to create a ROS node that controls the real robot through the additional board. Of course there is the API.
    But the problem is, the API only supports the Windows OS. That's why, we have to create Windows program, then create a communication node between Windows and Ubuntu.
    For communication, we can use rosserial_windows.

If you do that, please tell us.

Best Regards. Thank you.

VictorPZ2019 commented 5 years ago

hola. han podido conectar el robot nachi con ROS. Estoy intentando conectar un MZ04, con ROS, también tengo la API de C++ en Windows. Si an podido, me podrían explicar un poco de como hacerlo.