This repo contains the files required to interact with Capra's Ovis 6DOF arm.
robotiq_2f_140_gripper_visualization
In your workspace clone the git repository of the robotiq, kinova-ros and jogcontrol packages at the same level as the ovis package, so in the src
folder. You can simply git clone
the repository without issue.
For the kinova-ros repository make sure you have the melodic-devel
branch select. When cloning you can use this command to make sure that you have the right branch checked out:
git clone https://github.com/Kinovarobotics/kinova-ros.git -b melodic-devel
Like so :
src/
jog_control/
kinova-ros/
ovis/
robotiq/
To be able to communicate with the arm you first need to install the Kinova JACO SDK.
You can find the SDK in the Club Capra Teams files in the Logiciel channel under the name Kinova Windows & Linux SDK (The link requires you to be inside ClubCapra's Teams)
For Linux, the SDK is said to only support Ubuntu 16.04, but it also work on Ubuntu 18.04. This might become an issue if we decide to move to a newer version of Ubuntu/ROS.
To install the SDK please follow these steps :
Kinova_sdk1.5.1.zip
from the Logiciel channel inside the folder Kinova Windows & Linux SDK
.unzip Kinova_sdk1.5.1.zip -d Kinova_sdk1.5.1
Kinova_sdk1.5.1/Ubuntu/16_04/64\ bits
cd Kinova_sdk1.5.1/Ubuntu/16_04/64\ bits
installSDK64.sh
script
chmod +x installSDK64.sh
sudo
sudo ./installSDK64.sh
To verify that the installation was successful you can simply connect to the arm with a USB cable and turn on the power switch on the Kinova controller. Then launch the DevelopmentCenter
.
GUI
folder.
/opt/JACO-SDK
cd /opt/JACO-SDK/GUI
DevelopmentCenter
executable.
./DevelopmentCenter
DevelopmentCenter
and not the DevelopmentCenter.sh
, since it was not tested.USB Enable
. This will make sure that the connection work properly.Virtual Joystick
under the TOOLS section.
+
signThere's more information to come on this part.
For now, the step are as follow :
roslaunch ovis_bringup kinova_driver.launch
rosrun kinova_demo joints_action_client.py -v -r c2s6s000 degree -- 0 0 5 0 0 0
DevelopmentCenter
or with kinova-ros
, it might be because of two issue
DevelopmentCenter
with sudo
/etc/udev
folder you'll find the file : 10-kinova-arm.rules
MODE:="666"
to MODE:="777"
roslaunch ovis_gazebo gazebo.launch
roslaunch ovis_moveit_config ovis_gazebo_demo.launch
roslaunch ovis_jog_launch ovis.launch