Good day all,
As I mentioned earlier, I had done some work on using ROS to control the RBX1.
First of all, here’s the git repo: https://github.com/AllainFortier/ROS-RBX1-software
Feel free to dig and do push request if you can make improvements.
The concept here is to be able to plan movements on the main computer then send the movements requests to the RPi to be executed. Most of the information I could think of is included in the README. There will be ways of simplifying the workflow.
- Sending simple path to be executed by the arm
- Integrating the gripper in paths
- Queueing paths in waypoints (always need to home the robot between paths)
- Tracking path executing. (currently always tells the controller ‘yep, it worked’ even if it didn’t)
moveo_ws - contains the workspace that needs to be built by ROS
rbx1 - contains the python source that control the arm. (yes, it’s not my best work and needs some love)
Credit to: https://github.com/jesseweisberg/moveo_ros
There will be questions and I’ll try to help as much as possible.