Realtime Control

기능

This package provides the function to control m1013 model of Doosan robots in the ROS2(Humble) environment.
More information about this package can be found at doosan-robot2/dsr_example2/realtime_control/README.md.
You will be given two options(Option [1] is recommended):
[1] It provides a way to control the robot using the Doosan API without using the communication interface of ROS2.
[2] It provides a way to use the realtime control function of Doosan API through ROS2's Service and Topic communication interfaces.
- Directory of .py files: ~/ros2_ws/src/doosan-robot2/dsr_example2/realtime_control

예제

CODE

1. Robot controller default IP/Port
- IP : 192.168.137.100 , port = 12345

2. launch
$ ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=real host:=192.168.137.100 port:=12345 model:=m1013

3. run application node
- Option 1: Real Mode (Available)
$ ros2 run realtime_control realtime_api
- Option 2: Real Mode (Limitedly available)
$ ros2 run realtime_control rt_init
$ ros2 run realtime_control realtime_control
$ ros2 run realtime_control rt_shutdown # If you want to stop realtime connection(Not mandatory), Enter the following command line

그림 6.2 visual servoing