ST-R17 ROS Driver

Installation

1. Clone the Repositories:

   cd ~/catkin_ws/src
   git clone http://github.com/yycho0108/st_r17_ros_driver.git

2. Install the Dependencies:

   rosdep update
   rosdep install st_r17_ros_driver --ignore-src

3. Build the project:

   catkin build st_r17_ros_driver

Documentation

Generating URDF:

Refer to the instructions. The CAD design files are available here.

Generating IKFast:

(Reference)

roscd st_r17_ikfast_plugin
# options : decimal rounding
./generate_ikfast_solver.sh

Run

The following are the most basic demonstrations of functions.

See the included packages such as st_r17_calibration or st_r17_gazebo for more involved demos.

Rviz Simulation Demo

roslaunch st_r17_moveit_config demo.launch 
roslaunch st_r17_moveit_config move_group_interface.launch

Hardware Demo

roslaunch st_r17_moveit_config hardware.launch
roslaunch st_r17_moveit_config demo.launch sim:=false
roslaunch st_r17_moveit_config move_group_interface.launch

Stereo Vision Testing Configuration

roscore

# run hardware ...
roslaunch st_r17_moveit_config hardware.launch rate:=20.0
ROS_NAMESPACE=stereo rosrun uvc_camera uvc_stereo_node _left/device:=/dev/video1 _right/device:=/dev/video2

# configure camera ...
uvcdynctrl -v -d video1 --set='Focus, Auto' 0
uvcdynctrl -v -d video2 --set='Focus, Auto' 0
uvcdynctrl -v -d video1 --set='Focus (absolute)' 0
uvcdynctrl -v -d video2 --set='Focus (absolute)' 0

# moveit ...
roslaunch st_r17_moveit_config demo.launch sim:=false
roslaunch st_r17_moveit_config move_group_interface.launch 

# stereo ...
ROS_NAMESPACE=stereo rosrun stereo_filter stereo_filter left:=left/image_raw right:=right/image_raw left_info:=left/camera_info right_info:=right/camera_info _baseline:=0.63