mycobot_ros2

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myCobot ROS2 package

Notes:

• Make sure that Atom is flashed into the top Atom and Transponder or minirobot is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
• Supported ROS2 versions:
  • Ubuntu 20.04 / ROS2 Foxy - branch foxy
  • Ubuntu 20.04 / ROS2 Galactic - branch galactic
  • Ubuntu 22.04 / ROS2 Humble - branch humble

Installation

1.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

1.2 Package Download and Install

Install ros package in your src folder of your Colcon workspace.

$ cd ~/colcon_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
$ cd ~/colcon_ws
$ colcon build
$ source ~/colcon_ws/install/setup.bash
$ sudo echo 'source ~/colcon_ws/install/setup.bash' >> ~/.bashrc

Troubleshooting

1. On ROS2 Humble if slider_control does not show GUI properly, update file /opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py from here: https://github.com/ros/joint_state_publisher/blob/ros2/joint_state_publisher_gui/joint_state_publisher_gui/joint_state_publisher_gui.py

URDF Model Graph

mycobot 280 pi

mycobot 280 pi pump

mycobot 280 pi camera flange

mycobot 280 pi camera flange & pump