dobot-docker

Building a Docker image for ROS 2 driver for Dobot manipulators

Run

Integration with Husarion UGV

Firstly release Husarion UGV E-Stop.

ros2 service call /panther/hardware/e_stop_release std_srvs/srv/Trigger

Then enable aux power for the manipulator.

ros2 service call /panther/hardware/aux_power_enable std_srvs/srv/SetBool "data: true"

Run Dobot

Build and run dobot arm with gripper:

Note

When running with Husarion UGV platform, make sure that software E-stop is released before starting Dobot arm software.

docker compose up

Arm configuration

Enable arm:

ros2 service call /dobot_bringup_v3/srv/ClearError dobot_msgs_v3/srv/ClearError
ros2 service call /dobot_bringup_v3/srv/EnableRobot dobot_msgs_v3/srv/EnableRobot

Example movement of joint (joint 1 - I think it is 10 degrees but not sure about units):

ros2 service call /dobot_bringup_v3/srv/RelMovJ dobot_msgs_v3/srv/RelMovJ "{offset1: 10.0}"

Move to position at your own risk, I tried with copied position from GetPose and arm decided to attack itself xD. Movement completely unpredictable.

Other usefull services for movement:

/dobot_bringup_v3/srv/MovJ
/dobot_bringup_v3/srv/MovL
/dobot_bringup_v3/srv/RelMovJ
/dobot_bringup_v3/srv/RelMovL

Gripper

Launches automatically

Close gripper:

ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.85, max_effort: 1.0}}"

Open gripper:

ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.0, max_effort: 1.0}}"

Known errors:

Missing PowerOn service for arm. After triggering e-stop there is no way to power up arm again from terminal.

ClearError->EnableRobot if at anytime arm turns green. ClearErrors only wont help.