MOVER6

MOVER6 is a robotic manipulator with 6 degrees of freedom. It uses can protocol co communicate. CPR_mover ros package establishes the communication using USB-CAN adapter. Read more about PCAN-USB.

Quick Start

Turn ON FORTE-RC and connect to its internal CPU (take a look here to know how to do so). Once FORTE-RC starts, simply run the script Mover6.sh.

Step by Step

• Start roscore
• Open a terminal and cd into the plugin directory: cd ~/rosbuild_ws/cpr_rviz_plugin/
• check bash.rc export location. Source and export should be on rosbuild_ws
• Start Rviz:

roslaunch cpr_mover6.launch

• The CPR plugin should be loaded, otherwise load with the menu entry.
• Open a second terminal and cd into the cpr_mover directory: cd ~/catkin_ws/src/cpr_mover
• check bash.rc export location. Source and export should be on catkin_ws
• Start the node:

rosrun cpr_mover cpr_mover

It is important to first start Rviz, because the launch file sets the robot_type parameter to Mover6.

Move the Arm

• Press “Connect” in the RViz plugin. The status changes from “not connected” to another value
• Press “Reset”: This button loads the hardware joint status, the 3D graphics adapts. Also the status changes
• Press “Enable”: Not the status changes to “0x00” or “No Error” and the robot can be moved now.