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Real mode

Feature

  • Use real mode to drive a real robot.

  • In real mode operation, communication must be established with the real robot controller.

  • The default IP of the robot controller is 192.168.127.100 and the port is 12345.

  • Selecting arguments(mode:=real host:=192.168.127.100 port:=12345) to real mode when running the dsr_launcher launch file.
    ex> roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.127.100 port:=12345

Connect with Controller

image2021-12-10_15-12-8.png

Figure 2.2 Teach Pandaunt Screen


  • The user can set static IP in Setting -> Network of TP screen.

image2021-12-10_15-12-57.png

Figure 2.3 Check robot controller IP on TP


  • Check the IP of the controller set in the Network tab, and set this IP in the ROS
    (host := ROBOT_IP)

  • If the ROS control node is correctly executed, ROS has the robot control.

  • If the TP transfer control, below pop-up message on the TP screen.

image2021-12-10_15-13-28.png

Figure 2.4 Transfer Control pop-up message