README.md

RosForSwiftPro

This is ROS package for swift pro started by ufactory team. These packages support Moveit!, RViz and serial communication for swift pro.

Requirement

• ROS

Download and install

Download ros packages for uarm swift pro

cd ~/catkin_ws/src
git clone https://github.com/asukiaaa/RosForSwiftPro.git

Install all dependencies

rosdep install --from-paths ./ -i

Compile

catkin_make

Load

source ~/catkin_ws/devel/setup.bash

Simulation

Connect your swift/swiftpro to computer and get USB permission to access uArm

sudo chmod 666 /dev/ttyACM0

Display mode: Get data from swiftpro

Get data from serial and simulate swiftpro in RViz.

roslaunch swiftpro pro_display.launch

You can drag your swiftpro and it will simulate in Rviz.

Control Mode: Send data to swiftpro

Connect swiftpro, send data though serial.

roslaunch swiftpro pro_control.launch

Open another ternimal to get joint angles from Moveit!.

roslaunch pro_moveit_config demo.launch

You can do trajectory planning or grasping in moveIt!.