ROSでMyCobotを動かす
Raspberry Pi 4B 8GB
Raspberry Pi OS 64bit
ROSのインストール
/usr/bin/python3を使うなら上の手順でいい
pyenvをかますとハマる
Noetic対応
Noeticで動かす場合は以下のパッチが必要
code:noetic.patch
diff --git a/launch/control.launch b/launch/control.launch
index 31bf306..4e6a36a 100644
--- a/launch/control.launch
+++ b/launch/control.launch
@@ -1,10 +1,8 @@
<launch>
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
- <param name="use_gui" value="true"/>
- </node>
+ <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
</launch>
diff --git a/launch/control_slider.launch b/launch/control_slider.launch
index 6aadc66..407d1ca 100644
--- a/launch/control_slider.launch
+++ b/launch/control_slider.launch
@@ -2,11 +2,9 @@
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
- <param name="use_gui" value="true"/>
- </node>
+ <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/>
diff --git a/launch/mycobot.launch b/launch/mycobot.launch
index ba52b7d..db20ce3 100644
--- a/launch/mycobot.launch
+++ b/launch/mycobot.launch
@@ -2,7 +2,7 @@
<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/>
diff --git a/scripts/control_slider.py b/scripts/control_slider.py
index 5b83846..a869bcf 100755
--- a/scripts/control_slider.py
+++ b/scripts/control_slider.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
# from std_msgs.msg import String
import time, subprocess