jaka dev ros2 humble

For example jaka_zu7

• jaka_robot_v2.2/src/jaka_description only jaka_zu7
• jaka_robot_v2.2/src/jaka_msgs
• jaka_robot_v2.2/src/jaka_driver
• jaka_robot_v2.2/src/jaka_zu7_moveit_config
• using SDK v2.1.14 now
• jaka_robot_v2.2/src/jaka_planner
• fix moveit2 + real arm bugs
• jaka_hardware ros2_control 【Recommended】

Preparation (win robostack)

mamba install ros-humble-moveit ros-humble-joint-state-publisher-gui ros-humble-moveit-planners-chomp

colcon build --merge-install --cmake-args  -DCMAKE_BUILD_TYPE=Release  -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DBUILD_TESTING=OFF --event-handlers console_direct+
call install/setup.bat
ros2 launch jaka_description jaka_zu7_rviz_control.launch.py

Test Driver

ros2 launch jaka_driver robot_start_launch.launch.py ip:=192.168.56.101
ros2 service list
ros2 service type /jaka_driver/joint_move

ros2 service call /jaka_driver/joint_move jaka_msgs/srv/Move "{pose: [0,1.57,-1.57,1.57,1.57,0], has_ref: false, ref_joint: [0], mvvelo: 0.5, mvacc: 0.5, mvtime: 0.0, mvradii: 0.0, coord_mode: 0, index: 0}"

ros2 service call /jaka_driver/linear_move jaka_msgs/srv/Move "{pose: [111.126,282.111,271.55,3.142,0,-0.698], has_ref: false, ref_joint: [0], mvvelo: 100, mvacc: 100, mvtime: 0.0, mvradii: 0.0, coord_mode: 0, index: 0}"

ros2 service call /jaka_driver/get_fk jaka_msgs/srv/GetFK "{joint: [0,1.57,-1.57,1.57,1.57,0]}"

ros2 service call /jaka_driver/get_ik jaka_msgs/srv/GetIK "{ref_joint: [0,1.57,-1.57,1.57,1.57,0], cartesian_pose: [130.7,116,291,3.13,0,-1.5707]}"

MoveIt2 + Real Arm by moveit action

1. define name="FakeSystem"

<xacro:jaka_zu7_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>

2. run

ros2 launch jaka_planner moveit_server.launch.py ip:=192.168.56.101 model:=zu7
ros2 launch jaka_zu7_moveit_config demo.launch.py

MoveIt2 + Real Arm by ros2_control 【Recommended】

1. define name="JakaSystem"

<xacro:jaka_zu7_ros2_control name="JakaSystem" initial_positions_file="$(arg initial_positions_file)"/>

2. set your robot ip

<param name="robot_ip">"192.168.56.101"</param>

3. run

ros2 launch jaka_zu7_moveit_config demo.launch.py

References

1. https://github.com/JakaCobot/jaka_robot
2. https://github.com/xArm-Developer/xarm_ros2
3. https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html
4. https://github.com/PickNikRobotics/topic_based_ros2_control