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Mobile robot

Feature

  • Provides mobile robot(huskey) examples.
    (Please refer to Chapter 5, "dsr_launcher" for detailed robot environment configuration.)
  • When running dsr_launcher, give argument (mobile:=husky).
  • The example files was written in python
    - Directory of .py files: ~/catkin_ws/src/doosan-robot/dsr_example/py/scripts/mobile

Paramaters of dsr_launcher

Parameter Name
Data type
Default Value
Description

ns

-

dsr01

ROBOT name space

. single robot : dsr01

. multi robot: dsr01, dsr02, dsr03, dsr04 …

host

-

127.0.0.1

Robot controller IP

. Emulator : 127.0.0.1 

. Real robot controller : 192.168.127.100

port

-

12345

port

mode

-

virtual

Robot operation mode

- virtual : virtual mode

- real : real mode

model

-

m1013

M-Series Robot model

. m0609, m0617, m1013, m1509

A-Series Robot model

. a0509

color

-

white

Robot color

. white or blue

gripper

-

none

using gripper or not

. none : not use gripper

. robotiq_2f : use robotiq 2finger gripper

mobile

-

none

using mobile robot or not

. none : not use mobile robot

. husky : use husky mobile robot

Example

BASH
1. Robot controller default IP/Port 
- IP : 192.168.127.100 , port = 12345

2. launch : single robot + mobile
- single robot in rviz 
$ roslaunch dsr_launcher single_robot_rviz.launch model:=m1013 mobile:=husky
- single robot in gazebo 
$ roslaunch dsr_launcher single_robot_gazebo.launch model:=m1013 mobile:=husky
- single robot in rviz + gazebo 
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 mobile:=husky

3. run application node
- Edit example files
   . Open the example file you want to run and modify the ROBOT_ID and ROBOT_MODEL accordingly.
   .. ex> 
ROBOT_ID = "dsr01"
ROBOT_MODEL = "m1013"


$ rosrun dsr_example_py single_robot_moblie.py

        Figure 6.5 robot on mobile

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