Feature
-
Configure various robot environment through dsr_launcher.
-
The user can build Single Robot, Multi Robot, Gripper, mobile environment according to Paramater.
-
Multi Robot configuration is an extension of Single Robot configuration. This is an example of 2 robots of Multi Robot configuration basically provided in this package. Please modify the dsr_launcher / multi-robot * .launch files to the appropriate configuration for your environment. (ns, host, port, model, etc. should be corrected correctly.)
-
After loading dsr_launcher, run dsr_example for each environment with rosrun.
(For details, see Chapter 6, dsr_example.)
Parameter
|
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 |
Examples
<single robot>
- rviz, virtual mode, m1013(white)
$ roslaunch dsr_launcher single_robot_rviz.launch mode:=virtual model:=m1013
- gazebo, real mode, m1013(blue)
$ roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.127.100 port:= 12345 mode:=real color:=bule
- rviz + gazebo, real mode, m1013(white)
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch host:=192.168.127.100 port:= 12345 mode:=real
- + gripper
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f
- + mobile
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky
<multi robot>
- rviz, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_rviz.launch
- gazebo, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_gazebo.launch
- rviz + gazebo, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_rviz_gazebo.launch