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ycheng517 / ar4_ros_driver

ROS 2 driver for the Annin Robotics AR4 robot arm
MIT License
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Way to control arm and gripper externally #7

Closed newtondotcom closed 7 months ago

newtondotcom commented 7 months ago

Hey, I was wondering if there is a clean way to control the arm and gripper externally than with rivz moveit extension ?

For the arm, I managed to do so using a publisher in a .py : create_publisher(JointTrajectory, '/joint_trajectory_controller/joint_trajectory', 10) but for example, I don't know if the trajectory went well, etc ..

For the gripper, i don't see any topic regarding gripper_cmd so I didn't managed to make it work.

Do you have any clue ?

BR

newtondotcom commented 7 months ago

In fact, it seems that moveitdoesn't publish its namespaces so we can't use : /follow_joint_trajectory/ and /gripper_action/ as topics.

newtondotcom commented 7 months ago

okay my bad, i was searching for a topic, but it is an action. So sorry !

ycheng517 commented 7 months ago

@newtondotcom See this script for an example of using MoveItPy to control the arm: https://github.com/ycheng517/ar4_ros_driver/blob/main/ar_hand_eye/scripts/follow_aruco_marker.py

I haven't looked into gripper control yet.

If you have a working solution that directly publishes to the right topics, drop a link here! I'd be interested to know how to do that as well.

se1exin commented 6 months ago

Hi @newtondotcom I've been experimenting with moving the arm & gripper externally and have some working code in a test repo: https://github.com/se1exin/ros2_ar4

If you look at https://github.com/se1exin/ros2_ar4/blob/master/src/ar_testing/ar_testing/ar_moveit_test.py you can see some demo functions for controlling the arm and the gripper using MoveItPy.

The readme has instructions for running the ar_moveit_test file.

Additionally, I've been playing with controlling the arm using voice control. If you look in the ar_whisper package (https://github.com/se1exin/ros2_ar4/blob/master/src/ar_whisper/ar_whisper/ar_whisper.py) you can see how I control the robot arm using ros2_control and manipulating the joint states directly.

Keep in mind that repo is just my test code/playground. It's full of commented out code etc, so it's pretty messy, but you're welcome to have a poke around if it helps you get your arm moving!