Control or simulate Mercury series robots in ROS.
Notes:
- Supported ROS versions:
- Ubuntu 20.04 / ROS Noetic
For using this package, the Python api library should be installed first.
pip install pymycobot --userBefore installing the package, you need to create a ros workspace.
mkdir -p ~/catkin_ws/src # Create folder
cd ~/catkin_ws/src # Enter the folder
catkin_init_workspace # Initialize the current directory into a ROS workspace
cd .. # Return to the upper directory
catkin_make # Build the code in the workspace.Add a workspace environment
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrcInstall ros package in your src folder of your Catkin workspace.
$ cd ~/catkin_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mercury_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bashHere we take Mercury A1 as an example
roslaunch merury_a1 test.launchroslaunch mercury_a1 slider_control.launchrosrun mercury_a1 slider_control.pyrosrun mercury_a1 follow_display.pyroslaunch mercury_a1 mercury_follow.launchroslaunch mercury_a1 simple_gui.launchroslaunch mercury_a1 teleop_keyboard.launchrosrun mercury_a1 teleop_keyboard.pyroslaunch mercury_a1_moveit mercury_a1.launchrosrun mercury_a1_moveit sync_plan.py
There is documentation in the ElephantRobotics Docs. Please check the ROS chapter.
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