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Real Robot Control

The "Real Robot Control" section provides commands for launching the ROS software with a real Indy robot. This can be useful for testing and running applications on an actual robot.

Package Configuration

├── indy_driver
    ├── indy_driver ── indy_driver_dcp.py
    └── launch ── indy_bringup.launch
├── indy_moveit
    ├── ...
    └── launch ── moveit_indy.launch

This section uses two packages: indy_driver and indy_moveit. The indy_driver package contains the communication script to connect ROS1 with Indy robot. while indy_moveit contains moveit configuration to use moveit with Indy robot.

Launch

Execute the following command to run the driver for the Indy7 robot model and control the actual robot through ROS1.

roslaunch indy_driver indy_bringup.launch indy_ip:=192.168.xxx.xxx rviz:=true
  • indy_ip: Enter the IP address of the robot control box (192.168.xxx.xxx is an example).


To start the Indy robot with Moveit, first run indy_bringup without RViz as follows.

roslaunch indy_driver indy_bringup.launch indy_ip:=192.168.xxx.xxx

Then, open a new terminal and run Moveit as follows.

roslaunch indy_moveit moveit_indy.launch


Using the Servoing feature on the actual robot through spacenav is the same as in simulation.

roslaunch indy_moveit spacenav.launch

Open a new terminal and use the keyboard node to perform Servoing mode.

roslaunch indy_driver indy_servo_keyboard.launch is_sim:=false
  • is_sim: Set to false for the actual robot.
  • ↑, ↓: Jog motion in x direction of the task space
  • ←, →: Jog motion in y direction of the task space
  • ., ;: Jog motion in z direction of the task space
  • N, M, ,: Move in task space UVW direction
  • W, E: Switch jog motion based on global coordinates (W) and tool coordinates (E)
  • 1, 2, 3, 4, 5, 6, 7: Jog motion in joint space
  • R: Switch jog direction
  • -, +: Adjust motion speed in joint space
  • 9, 0: Adjust motion speed in task space
  • Q: Quit
  • H: Move to home position
  • Z: Move to zero position
  • S: Recover
  • P: Stop teleoperation mode