Getting started

Quick-start

To launch the project with a manipulator robot, simply run the following command

roslaunch ronoco manipulator.launch commander:=string compliant_mode:=string end_effector:=string

With as argument :

  • commander: the name of the move_group in MoveIt
  • compliant_mode: manual if the robot can go into compliant mode manually, None if the robot cannot go into compliant mode, or the name of the service to put it in and out of compliant mode.
  • end_effector: the name of the service to manipulate the effector, e.g. "wsg_50_driver/move". It is not necessary to fill in this field

To start the project with a rolling robot, simply run the following command

roslaunch ronoco rolling.launch namespace:=string

With as argument :

  • namespace: the namespace for your robot without last / (default " ")

Whether the robot is a rolling robot or a manipulator arm, once ronoco is launched it is necessary to establish the connection with the robot. For example in the case of a ur3 in simulation it will be necessary to launch

roslaunch ur3_moveit_config demo.launch config:=true

in parallel to ronoco manipulator. For more details please refer to the different examples.

Manual start

To use ronoco it is necessary to launch the ROS modules corresponding to your robot and then the different modules of ronoco.

Regarding the launching of ROS modules the procedure is different for each robot, to make ronoco work it is necessary to have a roscore and Moveit running. See the different examples on Poppy Ergo Jr or Universal Robots 3 for more details.

First set parameters in rosparam

#for manipulator arm
rosparam set commander string
rosparam set compliant_mode string
rosparam set end_effector string

#for rolling roboto
rosparam set namespace string

It is then necessary to launch the three modules.

# Launching of nodered in a terminal
node-red

# Launching of ronoco-vm in another terminal
cd $HOME/catkin_ws/src/ronoco/ronoco-vm/
python3 ronoco_vm/run.py

# Launching of ronoco-ui in another terminal
cd $HOME/catkin_ws/src/ronoco/ronoco-ui/
npm start

Once all the modules are running go to your localhost:8080 and you will arrive at the ronoco page:

ronoco