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Niryo One ROS stack

License: GNU General Public License v3.0

CMake 1.08% C 1.41% C++ 42.38% Python 51.05% JavaScript 4.08%

niryo_one_ros's Introduction

Niryo One ROS stack

Licensed under GPLv3 (see LICENSE file)

(Niryo One : https://niryo.com)

This repository contains all ROS packages used on Niryo One (Raspberry Pi 3B - Xubuntu for ARM).

How to use Niryo One with a graphical interface ?

You can download Niryo One Studio (Linux, Windows and MacOS compatible).

How to install Niryo One ROS packages on your computer (x86) - Simulation Mode

Requirements :

Ubuntu 16.04
ROS kinetic (other versions are not supported)

First install ROS kinetic "Desktop-Full" (tutorial here).

You'll need to install some additional ROS packages :

sudo apt-get install ros-kinetic-robot-state-publisher ros-kinetic-moveit ros-kinetic-rosbridge-suite ros-kinetic-joy ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-tf2-web-republisher

You'll also need to install an additional Python module :

sudo -H pip install jsonpickle

Create a catkin workspace and clone Niryo One ROS stack :

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/NiryoRobotics/niryo_one_ros.git .

Build the packages :

cd ~/catkin_ws
catkin_make

Don't forget to use those commands before you try to launch anything (you can add them in your .bashrc) :

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash

You can now launch Rviz with Niryo One (only display mode with some cursors to move the joints):

roslaunch niryo_one_description display.launch

You can also launch the complete Niryo One ROS Stack instead, which you can control from Niryo One Studio.

roslaunch niryo_one_bringup desktop_rviz_simulation.launch

The main differences between this launch file and the launch file executed on Raspberry Pi 3B (rpi_setup.launch) is that the hardware functionalities are disabled, and you get a 3D simulation view with Rviz.

Note that Niryo One ROS packages have been developed with ROS kinetic, on Ubuntu 16.04. Other ROS versions and OS distributions are not supported.

(Optional) After you install ROS packages and execute catkin_make you still have some installation steps if you want to use Blockly ("Niryo Blocks" on Niryo One Studio).

Make sure that you have a recent nodejs version (not the default installed one)

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt-get install -y nodejs

Install node modules in the blockly_code_generator directory (where you can find package.json) and create an executable.

cd ~/catkin_ws/src/niryo_one_user_interface/blockly_code_generator
npm install
sudo npm link

That's it, you have now all the Niryo One functionalities ready to be used.

Niryo One ROS Stack overview

Here's a global overview of the Niryo One ROS Stack :

You can find more specific and detailed info in each package's README.

Developer Documentation

Get started with the Niryo One Stack. This will help you understand the architecture and where to start as a developer.
C++ example to move the robot by Steve Maassen
Python API
Remotely control Niryo One (ROS multi-machines)

Any question ?

If you have a question and you don't find the answer here or on our documentation, please send us a message.

Thank you !

niryo_one_ros's People

Contributors

Stargazers

Watchers

Forkers

linlut xenobot-amber-dev githjk xenobot ubiqelife-lin smaassen mjy2002 revilor kfriesth annhan david20120720 bluetronics-india aiba-rootopia insat96999 peterkuria2000 renarded khutsa neurobug torun83 teomc qq302011 lizixroy hradynarski travers-rhodes sarfat96 anslex developer69k juank23 emreyilm lunabot87 martin5578 ericyangs panmaneecnc mipidisaster netzahualcoyotl netza avkudr gochinkushi himlen1990 feigaoxyz youndoldman mexrobotics gabrielwong159 eichitakaya huangzijian037 jinye520 spartan11151 logogin gaspard-bourgeois aiyi2099 rrader26 iotfab lebeg mgiglia92 sean3don baikeshen wwwds999 chxb1987 sipg-isr calee2005 alfonsosanchezbeato miltzhaw icclab thaliafu zyc868 lianwenzhao bigbro2014 tmehault wasta-geek huaibovip farmange phenixwen mhkr007 sam-wang marcostrullato kiranvarghesev tejadeep welterhubi jswolf19 rickardraysearch weizx208 sky-tim hebskjcc sarraelghali opusg5 anderslisper oberdanpinheiro tonedeafchen bruttherjoe tazmanian60 marcelolavor xiesibo leankyr jpabotermans illyakaynov inaciosef zhangfaquan jpuderer ljthink markusbuchholz

niryo_one_ros's Issues

Continuous Path generation

I want to make a straight line using niryo one robot.
Continuous Path can not be implemented in a python API.
Because I did not know the technical aspect of continuous path strock generation

Include Gripper in Robot Model

Can you provide, at least for the standard gripper, an urdf model + moveIT configuration (including IKFast)? In my eyes, this is quite essential if you want to use the MoveIT library with your robot in ROS. Any task where you want to pick up or place an object for example.

Thanks

move_pose() is not working.

I am trying the pick and place sample program during the simulation. I can't use the move_pose() or pose functions. The error is as follows: (move_joints works fine)

_Traceback (most recent call last):
File "test1.py", line 49, in
pick_n_place_version_2(client)
File "test1.py", line 24, in pick_n_place_version_2
robot.move_pose(pick_pose_high)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 472, in move_pose
self.__send_n_receive(Command.MOVE_POSE, *pose_list)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 152, in __send_n_receive
return self.__receive_answer(with_payload=with_payload)
File "/home/robotics/.local/lib/python3.6/site-packages/pyniryo/api/tcp_client.py", line 138, in _receive_answer
raise NiryoRobotException("Command KO : {}".format(received_dict["message"]))
pyniryo.api.exceptions.NiryoRobotException: Command KO : 6 parameters expected but 7 given
In function

Release of niryo_one_python_api to Python Package Index?

Do you have any plans to release the niryo_one_python_api to the Python Package Index? This would make the installation via, e.g., pip much easier. Currently I see no other option than to clone this repository and copy the respective sub-folder into my project, thereby creating a dependency maintenance nightmare.

Is it possible to use this repo without hardware, only with Moveit?

Hi, I've been using your repo as a reference while building my own application. Excellent docs, thank you so much. They've helped me out a ton. I'm sure this will make Niryo a nice learning platform.

So I've trying to figure out how to connect moveit to ros_control. I notice in your code that you have a "fake" communications base. i infer that this is used to connect and test moveit with ros_control in the absence of real hardware.

Could you tell me how to run and test the code base using just moveit, with no hardware at hand?

ROS Noetic Version

Hi,
Can use this repository to build this package in noetic version?

"_one" missing in the .setup_assistant file

the move_it setup assistent file is missing "_one" in the paths for urdf and srdf, which makes it impossible to edit the move_it configuration, say for other grippers

MoveIt! collision checking

Could you please briefly outline how to enable collision checking? I went through niryo_one_moveit_config package but was not able to identify where or how it is disabled. We are running MoveIt! on external PC, so performance is not a problem. Our code is publishing collision objects to the planning scene topic, objects are visible in RViZ, but ignored by MoveIt.

moveit + Collision objects guide

Hey guys,

Not sure where to place this guide so it's here for now. Our aim was to add collision objects into the world to prevent damage to our Niryo.

Renard has mentioned in the forums that meshes don't work in ARM. Hence, we used an extra x86 computer to run moveit.

The steps (or rather hacks) are:

Ensure /etc/hosts file on both RaspPi & x86 computer have the correct names and ip addresses of both machines. E.g.
10.10.10.10 niryo-desktop
10.10.10.47 intel-machine
On the RaspPi, modify
'niryo_one_ros/niryo_one_bringup/launch/niryo_one_base.launch'. Modify
line 55 to force the urdf with mesh to load (niryo_one.urdf).
On the RaspPi, modify 'niryo_one_ros/niryo_one_bringup/config/rpi_ros_processes.yaml'. Modify the parameters of 'robot_commander', 'user_interface', and 'vision_node' where the following is as such: launch_on_startup: false
On the x86 computer, create /home/niryo. Use the root account and then chown & chgrp the niryo folder to your main account. Also create
/home/niryo/niryo_one_positions
/home/niryo/niryo_one_saved_values
/home/niryo/niryo_one_sequences
/home/niryo/niryo_one_trajectories
/home/niryo/niryo_one_workspaces
Boot up the robot
Connect x86 computer to robot via Wifi
Execute 'rosnode list' and 'rostopic list' to double-check that both machines can talk to each other.
On the x86, execute roslaunch niryo_one_bringup robot_commander.launch
On either machine, execute roslaunch niryo_one_bringup user_interface.launch
On either machine, execute roslaunch niryo_one_bringup vision.launch
If this works well, one should be able to see the robot with mesh within Rviz. If it failed, you will not see the robot, you will only see the tfs.

You should also be able to use niryo_studio GUI. However, the GUI will not show the collision objects.

It's support raspberry 4b+ devices?

wiringpi

Hi guys, do you have any plan to replace the dependency to wiringpi?
Such library is being deprecated, as the developer gave up.

Cheers

Support for the (Extended) Gripper

First of all: thank you for this wonderful repo and your work!

I would like to use moveit with the Niryo One and the extended gripper. I see that the Niryo Ned has a wonderful integration with gripper1 and it can be used with the moveit. I could manually copy most of the descriptions from the Ned to the Niryo (meshes and the extended urdf.xacro file for the robot description, as well as new controllers, joint_limits, planning config and a new srdf file for the moveit config) to use the task constructor in simulation.

I would like to ask two sets of related questions:

As gripper1 differs from the extended gripper and as you can provide a much more authoritative configuration I was wondering if you have any plans integrate the gripper into the Niryo One repo as you did in the Ned repo? Are the meshes and xacro files for the extended gripper as robot description separately available even without the moveit integration?
What do I have to do to get the gripper working in reality, not just in simulation with ros? I see that ned has the argument simu_gripper which is sourced in the bringup file. I do not understand how I could replicate similar functionality with the Niryo One to use the gripper with moveit. Can you kindly illustrate how that would be possible?

Using Ros Melodic with Niryo One

Is it possible to use Ros Melodic with the Niryo One? Ros Kinetic is nearing its end, and I would be happy to use Melodic.

You describe how to flash a new image with your Raspberry Pi image . Which Ros version is included in this file? If it contains Kinetic, can you maybe outline how one could construct such an image?

A question

I am a rookie about NiryoOne and i am want to control it with scripting.
I find two package, "niryo_one_ros_simulation" and "niryo_one_ros" , which one should i use?
Could you help me ?
thank you

Asseble

Hello,
im slowly trying to assemble my robot and now i have problem cause i cant find sizes of alluminium tubes. Can you help me please?

Thank you

wrong angle wrappping in niryo one studio

Hi,

I do not know where to address this, since there is no github for niryo one studio so I'll just post it here.
It appears that the angle wrappings are not working for the two last axes (5 & 6). When you move the joint from the middle (0) to one extrimity it goes from 0 to PI/2 to 0 again.

I think it should go to PI or -PI respectively.

Cannot legally link against GPL code

I'm writing proprietary code which wants to interface with the niryo arm. However, it's unclear whether I'm allowed to link against the driver in this codebase because it's GPL licensed (see text 0b7114b#diff-9879d6db96fd29134fc802214163b95aR669). Would you consider relicensing the driver code under a more permissive license (LGPL) or add a linking exception?

Problem running niryo_one_moveit_config demo.launch

rviz crashes when I run:
roslaunch niryo_one_moveit_config demo.launch

This is from an up to date source, with no modifications (and with the correct setup.bash). I can't find any reason for the crash in the error files, can you please assist?

The files are attached:
crash.tar.gz

Error running simulation mode.

Hello,

I am trying to use the API in simulation mode. I am running the following command to start the simulation:

roslaunch niryo_one_bringup desktop_rviz_simulation.launch

For some reason, it is giving me a set of errors and the 3D model is not rendering correctly. I am attaching the log files.

e8b3d0d2-f4e5-11e8-a2d8-4ccc6af183fb.zip

Thank you in advance.

No inertial info for each link

Hi,
I'm Utsha.

I want to use niryo_one robot in gym environment. For that reason I want a proper urdf file consist of collision, visual and inertial information. But the provided urdf file does not contain the inertial information.

How can I get those inertial information for each link?
Thanks in advanced

Can not change Modbus port from 5020 to 502

Hello,
This bug occur on ned one.
In "~/catkin_ws/src/niryo_robot_modbus/launch/modbus_server.launch" when changing :

<arg name="server_port" default="5020"/>

as recommended to

<arg name="server_port" default="502"/>

nothing happen after restarting ( I check the port using nmap and nothing has change).

After some research I reach the niryo_robot_modbus package folder by using :

roscd niryo_robot_modbus

it send me to "~/catkin_ws/install/release/ned/share/niryo_robot_modbus/launch" folder and when I try to change the same file in this folder after this commands :

rosdep fix-permissions

roslauch niryo_robot_modbus modbus_server.launch

Thes modbus TCP port is closed and I have an error

ModbusServer.init : TCP server unable to start : [Errno 13] Permission denied

(sudo seems to doesn't work )

Could you help me ?

Thanks

ROS2 support

Any estimation when port to ROS2 might be expected? Alpha version of MoveIt seems to be released into Dashing.

Multiple packages found with the same name

I was trying to install both niryo_one_ros and niryo_one_ros_simulation at the same time.
Here is my catkin_ws:

.
├── build
│   ├── atomic_configure
│   │   ├── env.sh
│   │   ├── local_setup.bash
│   │   ├── local_setup.sh
│   │   ├── local_setup.zsh
│   │   ├── setup.bash
│   │   ├── setup.sh
│   │   ├── _setup_util.py
│   │   └── setup.zsh
│   ├── catkin
│   │   └── catkin_generated
│   │       └── version
│   │           └── package.cmake
│   ├── catkin_generated
│   │   ├── env_cached.sh
│   │   ├── generate_cached_setup.py
│   │   ├── installspace
│   │   │   ├── env.sh
│   │   │   ├── local_setup.bash
│   │   │   ├── local_setup.sh
│   │   │   ├── local_setup.zsh
│   │   │   ├── setup.bash
│   │   │   ├── setup.sh
│   │   │   ├── _setup_util.py
│   │   │   └── setup.zsh
│   │   ├── metapackages
│   │   │   └── niryo_one_ros_simulation
│   │   │       └── CMakeLists.txt
│   │   ├── order_packages.cmake
│   │   ├── order_packages.py
│   │   ├── setup_cached.sh
│   │   └── stamps
│   │       └── Project
│   │           ├── interrogate_setup_dot_py.py.stamp
│   │           ├── order_packages.cmake.em.stamp
│   │           ├── package.xml.stamp
│   │           └── _setup_util.py.stamp
│   ├── CATKIN_IGNORE
│   ├── catkin_make.cache
│   ├── CMakeCache.txt
│   ├── CMakeFiles
│   │   ├── 3.5.1
│   │   │   ├── CMakeCCompiler.cmake
│   │   │   ├── CMakeCXXCompiler.cmake
│   │   │   ├── CMakeDetermineCompilerABI_C.bin
│   │   │   ├── CMakeDetermineCompilerABI_CXX.bin
│   │   │   ├── CMakeSystem.cmake
│   │   │   ├── CompilerIdC
│   │   │   │   ├── a.out
│   │   │   │   └── CMakeCCompilerId.c
│   │   │   └── CompilerIdCXX
│   │   │       ├── a.out
│   │   │       └── CMakeCXXCompilerId.cpp
│   │   ├── clean_test_results.dir
│   │   │   ├── build.make
│   │   │   ├── cmake_clean.cmake
│   │   │   ├── DependInfo.cmake
│   │   │   └── progress.make
│   │   ├── cmake.check_cache
│   │   ├── CMakeDirectoryInformation.cmake
│   │   ├── CMakeError.log
│   │   ├── CMakeOutput.log
│   │   ├── CMakeRuleHashes.txt
│   │   ├── CMakeTmp
│   │   ├── download_extra_data.dir
│   │   │   ├── build.make
│   │   │   ├── cmake_clean.cmake
│   │   │   ├── DependInfo.cmake
│   │   │   └── progress.make
│   │   ├── doxygen.dir
│   │   │   ├── build.make
│   │   │   ├── cmake_clean.cmake
│   │   │   ├── DependInfo.cmake
│   │   │   └── progress.make
│   │   ├── feature_tests.bin
│   │   ├── feature_tests.c
│   │   ├── feature_tests.cxx
│   │   ├── Makefile2
│   │   ├── Makefile.cmake
│   │   ├── progress.marks
│   │   ├── run_tests.dir
│   │   │   ├── build.make
│   │   │   ├── cmake_clean.cmake
│   │   │   ├── DependInfo.cmake
│   │   │   └── progress.make
│   │   ├── TargetDirectories.txt
│   │   └── tests.dir
│   │       ├── build.make
│   │       ├── cmake_clean.cmake
│   │       ├── DependInfo.cmake
│   │       └── progress.make
│   ├── cmake_install.cmake
│   ├── CTestConfiguration.ini
│   ├── CTestCustom.cmake
│   ├── CTestTestfile.cmake
│   ├── gtest
│   │   ├── CMakeFiles
│   │   │   ├── CMakeDirectoryInformation.cmake
│   │   │   ├── gmock.dir
│   │   │   │   ├── build.make
│   │   │   │   ├── cmake_clean.cmake
│   │   │   │   ├── DependInfo.cmake
│   │   │   │   ├── depend.make
│   │   │   │   ├── flags.make
│   │   │   │   ├── link.txt
│   │   │   │   ├── progress.make
│   │   │   │   ├── src
│   │   │   │   └── usr
│   │   │   │       └── src
│   │   │   │           └── gtest
│   │   │   │               └── src
│   │   │   ├── gmock_main.dir
│   │   │   │   ├── build.make
│   │   │   │   ├── cmake_clean.cmake
│   │   │   │   ├── DependInfo.cmake
│   │   │   │   ├── depend.make
│   │   │   │   ├── flags.make
│   │   │   │   ├── link.txt
│   │   │   │   ├── progress.make
│   │   │   │   ├── src
│   │   │   │   └── usr
│   │   │   │       └── src
│   │   │   │           └── gtest
│   │   │   │               └── src
│   │   │   └── progress.marks
│   │   ├── cmake_install.cmake
│   │   ├── CTestTestfile.cmake
│   │   ├── gtest
│   │   │   ├── CMakeFiles
│   │   │   │   ├── CMakeDirectoryInformation.cmake
│   │   │   │   ├── gtest.dir
│   │   │   │   │   ├── build.make
│   │   │   │   │   ├── cmake_clean.cmake
│   │   │   │   │   ├── DependInfo.cmake
│   │   │   │   │   ├── depend.make
│   │   │   │   │   ├── flags.make
│   │   │   │   │   ├── link.txt
│   │   │   │   │   ├── progress.make
│   │   │   │   │   └── src
│   │   │   │   ├── gtest_main.dir
│   │   │   │   │   ├── build.make
│   │   │   │   │   ├── cmake_clean.cmake
│   │   │   │   │   ├── DependInfo.cmake
│   │   │   │   │   ├── depend.make
│   │   │   │   │   ├── flags.make
│   │   │   │   │   ├── link.txt
│   │   │   │   │   ├── progress.make
│   │   │   │   │   └── src
│   │   │   │   └── progress.marks
│   │   │   ├── cmake_install.cmake
│   │   │   ├── CTestTestfile.cmake
│   │   │   └── Makefile
│   │   └── Makefile
│   ├── Makefile
│   ├── niryo_one_ros_simulation
│   │   ├── niryo_one_description
│   │   │   ├── catkin_generated
│   │   │   │   ├── installspace
│   │   │   │   │   ├── niryo_one_descriptionConfig.cmake
│   │   │   │   │   ├── niryo_one_descriptionConfig-version.cmake
│   │   │   │   │   └── niryo_one_description.pc
│   │   │   │   ├── package.cmake
│   │   │   │   ├── pkg.develspace.context.pc.py
│   │   │   │   ├── pkg.installspace.context.pc.py
│   │   │   │   └── stamps
│   │   │   │       └── niryo_one_description
│   │   │   │           ├── package.xml.stamp
│   │   │   │           └── pkg.pc.em.stamp
│   │   │   ├── CMakeFiles
│   │   │   │   ├── _catkin_empty_exported_target.dir
│   │   │   │   │   ├── build.make
│   │   │   │   │   ├── cmake_clean.cmake
│   │   │   │   │   ├── DependInfo.cmake
│   │   │   │   │   └── progress.make
│   │   │   │   ├── CMakeDirectoryInformation.cmake
│   │   │   │   └── progress.marks
│   │   │   ├── cmake_install.cmake
│   │   │   ├── CTestTestfile.cmake
│   │   │   └── Makefile
│   │   ├── niryo_one_gazebo
│   │   │   ├── catkin_generated
│   │   │   │   ├── installspace
│   │   │   │   │   ├── niryo_one_gazeboConfig.cmake
│   │   │   │   │   ├── niryo_one_gazeboConfig-version.cmake
│   │   │   │   │   └── niryo_one_gazebo.pc
│   │   │   │   ├── package.cmake
│   │   │   │   ├── pkg.develspace.context.pc.py
│   │   │   │   ├── pkg.installspace.context.pc.py
│   │   │   │   └── stamps
│   │   │   │       └── niryo_one_gazebo
│   │   │   │           ├── package.xml.stamp
│   │   │   │           └── pkg.pc.em.stamp
│   │   │   ├── CMakeFiles
│   │   │   │   ├── CMakeDirectoryInformation.cmake
│   │   │   │   └── progress.marks
│   │   │   ├── cmake_install.cmake
│   │   │   ├── CTestTestfile.cmake
│   │   │   └── Makefile
│   │   ├── niryo_one_moveit_config
│   │   │   ├── catkin_generated
│   │   │   │   ├── installspace
│   │   │   │   │   ├── niryo_one_moveit_configConfig.cmake
│   │   │   │   │   ├── niryo_one_moveit_configConfig-version.cmake
│   │   │   │   │   └── niryo_one_moveit_config.pc
│   │   │   │   ├── package.cmake
│   │   │   │   ├── pkg.develspace.context.pc.py
│   │   │   │   ├── pkg.installspace.context.pc.py
│   │   │   │   └── stamps
│   │   │   │       └── niryo_one_moveit_config
│   │   │   │           ├── package.xml.stamp
│   │   │   │           └── pkg.pc.em.stamp
│   │   │   ├── CMakeFiles
│   │   │   │   ├── CMakeDirectoryInformation.cmake
│   │   │   │   └── progress.marks
│   │   │   ├── cmake_install.cmake
│   │   │   ├── CTestTestfile.cmake
│   │   │   └── Makefile
│   │   └── niryo_one_ros_simulation
│   │       ├── catkin_generated
│   │       │   ├── package.cmake
│   │       │   └── stamps
│   │       │       └── niryo_one_ros_simulation
│   │       │           └── package.xml.stamp
│   │       ├── CMakeFiles
│   │       │   ├── CMakeDirectoryInformation.cmake
│   │       │   └── progress.marks
│   │       ├── cmake_install.cmake
│   │       ├── CTestTestfile.cmake
│   │       └── Makefile
│   └── test_results
├── devel
│   ├── cmake.lock
│   ├── env.sh
│   ├── lib
│   │   └── pkgconfig
│   │       ├── niryo_one_description.pc
│   │       ├── niryo_one_gazebo.pc
│   │       └── niryo_one_moveit_config.pc
│   ├── local_setup.bash
│   ├── local_setup.sh
│   ├── local_setup.zsh
│   ├── setup.bash
│   ├── setup.sh
│   ├── _setup_util.py
│   ├── setup.zsh
│   └── share
│       ├── niryo_one_description
│       │   └── cmake
│       │       ├── niryo_one_descriptionConfig.cmake
│       │       └── niryo_one_descriptionConfig-version.cmake
│       ├── niryo_one_gazebo
│       │   └── cmake
│       │       ├── niryo_one_gazeboConfig.cmake
│       │       └── niryo_one_gazeboConfig-version.cmake
│       └── niryo_one_moveit_config
│           └── cmake
│               ├── niryo_one_moveit_configConfig.cmake
│               └── niryo_one_moveit_configConfig-version.cmake
└── src
    ├── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
    ├── niryo_one_ros
    │   ├── dynamixel_sdk
    │   │   ├── CHANGELOG.rst
    │   │   ├── CMakeLists.txt
    │   │   ├── include
    │   │   │   └── dynamixel_sdk
    │   │   │       ├── dynamixel_sdk.h
    │   │   │       ├── group_bulk_read.h
    │   │   │       ├── group_bulk_write.h
    │   │   │       ├── group_sync_read.h
    │   │   │       ├── group_sync_write.h
    │   │   │       ├── packet_handler.h
    │   │   │       ├── port_handler.h
    │   │   │       ├── port_handler_linux.h
    │   │   │       ├── port_handler_windows.h
    │   │   │       ├── protocol1_packet_handler.h
    │   │   │       └── protocol2_packet_handler.h
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── src
    │   │       ├── group_bulk_read.cpp
    │   │       ├── group_bulk_write.cpp
    │   │       ├── group_sync_read.cpp
    │   │       ├── group_sync_write.cpp
    │   │       ├── packet_handler.cpp
    │   │       ├── port_handler.cpp
    │   │       ├── port_handler_linux.cpp
    │   │       ├── port_handler_windows.cpp
    │   │       ├── protocol1_packet_handler.cpp
    │   │       └── protocol2_packet_handler.cpp
    │   ├── LICENSE
    │   ├── mcp_can_rpi
    │   │   ├── CMakeLists.txt
    │   │   ├── include
    │   │   │   └── mcp_can_rpi
    │   │   │       ├── mcp_can_dfs_rpi.h
    │   │   │       └── mcp_can_rpi.h
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── src
    │   │       └── mcp_can_rpi.cpp
    │   ├── niryo_one
    │   │   ├── CMakeLists.txt
    │   │   └── package.xml
    │   ├── niryo_one_bringup
    │   │   ├── CMakeLists.txt
    │   │   ├── config
    │   │   │   ├── niryo_one_driver.yaml
    │   │   │   ├── rpi_ros_processes.yaml
    │   │   │   ├── v1
    │   │   │   │   ├── niryo_one_motors.yaml
    │   │   │   │   ├── robot_command_validation.yaml
    │   │   │   │   └── stepper_params.yaml
    │   │   │   └── v2
    │   │   │       ├── niryo_one_motors.yaml
    │   │   │       ├── robot_command_validation.yaml
    │   │   │       └── stepper_params.yaml
    │   │   ├── launch
    │   │   │   ├── controllers.launch
    │   │   │   ├── desktop_rviz_simulation.launch
    │   │   │   ├── niryo_one_base.launch
    │   │   │   ├── robot_commander.launch
    │   │   │   ├── rpi_setup.launch
    │   │   │   └── user_interface.launch
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── scripts
    │   │       └── install
    │   ├── niryo_one_camera_jevois
    │   │   ├── CMakeLists.txt
    │   │   ├── example
    │   │   │   └── qrcode_example.py
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── scripts
    │   │       ├── jevois_camera.py
    │   │       ├── jevois_manager.py
    │   │       ├── jevois_ros_driver.py
    │   │       ├── jevois_serial.py
    │   │       └── modules
    │   │           ├── dice_counter_module.py
    │   │           ├── __init__.py
    │   │           ├── jevois_module.py
    │   │           └── qr_code_module.py
    │   ├── niryo_one_commander
    │   │   ├── CMakeLists.txt
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── scripts
    │   │   │   ├── arm_commander.py
    │   │   │   ├── __init__.py
    │   │   │   ├── niryo_one_commander_node.py
    │   │   │   ├── niryo_one_robot_state_publisher.py
    │   │   │   ├── position_manager.py
    │   │   │   ├── robot_commander.py
    │   │   │   ├── tool_commander.py
    │   │   │   └── trajectory_manager.py
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_commander
    │   │           ├── command_status.py
    │   │           ├── command_type.py
    │   │           ├── __init__.py
    │   │           ├── move_group_arm.py
    │   │           ├── moveit_utils.py
    │   │           ├── niryo_one_file_exception.py
    │   │           ├── parameters_validation.py
    │   │           ├── position
    │   │           │   ├── __init__.py
    │   │           │   ├── position_command_type.py
    │   │           │   ├── position_file_handler.py
    │   │           │   └── position.py
    │   │           ├── robot_commander_exception.py
    │   │           └── trajectory
    │   │               ├── __init__.py
    │   │               ├── trajectory_command_type.py
    │   │               ├── trajectory_file_handler.py
    │   │               └── trajectory.py
    │   ├── niryo_one_debug
    │   │   ├── CMakeLists.txt
    │   │   ├── include
    │   │   │   └── niryo_one_debug
    │   │   │       └── dxl_tools.h
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── scripts
    │   │   │   └── send_custom_dxl_value.py
    │   │   └── src
    │   │       ├── dxl_debug.cpp
    │   │       └── dxl_tools.cpp
    │   ├── niryo_one_description
    │   │   ├── CMakeLists.txt
    │   │   ├── config
    │   │   │   └── default_config.rviz
    │   │   ├── launch
    │   │   │   ├── display.launch
    │   │   │   └── without_mesh_display.launch
    │   │   ├── meshes
    │   │   │   ├── v1
    │   │   │   │   ├── collada
    │   │   │   │   │   ├── arm_link.dae
    │   │   │   │   │   ├── base_link.dae
    │   │   │   │   │   ├── elbow_link.dae
    │   │   │   │   │   ├── forearm_link.dae
    │   │   │   │   │   ├── hand_link.dae
    │   │   │   │   │   ├── shoulder_link.dae
    │   │   │   │   │   └── wrist_link.dae
    │   │   │   │   └── stl
    │   │   │   │       ├── arm_link.stl
    │   │   │   │       ├── base_link.stl
    │   │   │   │       ├── elbow_link.stl
    │   │   │   │       ├── forearm_link.stl
    │   │   │   │       ├── hand_link.stl
    │   │   │   │       ├── shoulder_link.stl
    │   │   │   │       └── wrist_link.stl
    │   │   │   └── v2
    │   │   │       ├── collada
    │   │   │       │   ├── arm_link.dae
    │   │   │       │   ├── base_link.dae
    │   │   │       │   ├── elbow_link.dae
    │   │   │       │   ├── forearm_link.dae
    │   │   │       │   ├── hand_link.dae
    │   │   │       │   ├── shoulder_link.dae
    │   │   │       │   └── wrist_link.dae
    │   │   │       └── stl
    │   │   │           ├── arm_link.stl
    │   │   │           ├── base_link.stl
    │   │   │           ├── elbow_link.stl
    │   │   │           ├── forearm_link.stl
    │   │   │           ├── hand_link.stl
    │   │   │           ├── shoulder_link.stl
    │   │   │           └── wrist_link.stl
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── urdf
    │   │       ├── v1
    │   │       │   ├── niryo_one.urdf.xacro
    │   │       │   └── without_mesh_niryo_one.urdf.xacro
    │   │       └── v2
    │   │           ├── niryo_one.urdf.xacro
    │   │           └── without_mesh_niryo_one.urdf.xacro
    │   ├── niryo_one_driver
    │   │   ├── CMakeLists.txt
    │   │   ├── config
    │   │   │   └── niryo_one_controllers.yaml
    │   │   ├── include
    │   │   │   └── niryo_one_driver
    │   │   │       ├── can_communication.h
    │   │   │       ├── change_hardware_version.h
    │   │   │       ├── communication_base.h
    │   │   │       ├── dxl_communication.h
    │   │   │       ├── dxl_driver.h
    │   │   │       ├── dxl_motor_state.h
    │   │   │       ├── fake_communication.h
    │   │   │       ├── motor_offset_file_handler.h
    │   │   │       ├── niryo_one_can_driver.h
    │   │   │       ├── niryo_one_communication.h
    │   │   │       ├── niryo_one_hardware_interface.h
    │   │   │       ├── ros_interface.h
    │   │   │       ├── rpi_diagnostics.h
    │   │   │       ├── stepper_motor_state.h
    │   │   │       ├── xl320_driver.h
    │   │   │       └── xl430_driver.h
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── src
    │   │       ├── hw_comm
    │   │       │   ├── can_communication.cpp
    │   │       │   ├── dxl_communication.cpp
    │   │       │   ├── fake_communication.cpp
    │   │       │   └── niryo_one_communication.cpp
    │   │       ├── hw_driver
    │   │       │   ├── dxl_driver.cpp
    │   │       │   ├── niryo_one_can_driver.cpp
    │   │       │   ├── xl320_driver.cpp
    │   │       │   └── xl430_driver.cpp
    │   │       ├── niryo_one_driver_node.cpp
    │   │       ├── niryo_one_hardware_interface.cpp
    │   │       ├── ros_interface.cpp
    │   │       ├── rpi_diagnostics.cpp
    │   │       └── utils
    │   │           ├── change_hardware_version.cpp
    │   │           └── motor_offset_file_handler.cpp
    │   ├── niryo_one_modbus
    │   │   ├── CMakeLists.txt
    │   │   ├── examples
    │   │   │   ├── client_modbus_test.py
    │   │   │   ├── client_move_command.py
    │   │   │   └── modbus_server_test.py
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_modbus
    │   │           ├── coil_data_block.py
    │   │           ├── discrete_input_data_block.py
    │   │           ├── holding_register_data_block.py
    │   │           ├── __init__.py
    │   │           ├── input_register_data_block.py
    │   │           ├── modbus_server.py
    │   │           └── niryo_one_data_block.py
    │   ├── niryo_one_moveit_config
    │   │   ├── CMakeLists.txt
    │   │   ├── config
    │   │   │   ├── controllers.yaml
    │   │   │   ├── fake_controllers.yaml
    │   │   │   ├── joint_limits.yaml
    │   │   │   ├── kinematics.yaml
    │   │   │   ├── niryo_one.srdf
    │   │   │   └── ompl_planning.yaml
    │   │   ├── launch
    │   │   │   ├── default_warehouse_db.launch
    │   │   │   ├── demo.launch
    │   │   │   ├── fake_moveit_controller_manager.launch.xml
    │   │   │   ├── joystick_control.launch
    │   │   │   ├── move_group.launch
    │   │   │   ├── moveit.rviz
    │   │   │   ├── moveit_rviz.launch
    │   │   │   ├── niryo_one_moveit_controller_manager.launch.xml
    │   │   │   ├── niryo_one_moveit_sensor_manager.launch.xml
    │   │   │   ├── ompl_planning_pipeline.launch.xml
    │   │   │   ├── planning_context.launch
    │   │   │   ├── planning_pipeline.launch.xml
    │   │   │   ├── run_benchmark_ompl.launch
    │   │   │   ├── sensor_manager.launch.xml
    │   │   │   ├── setup_assistant.launch
    │   │   │   ├── trajectory_execution.launch.xml
    │   │   │   ├── warehouse.launch
    │   │   │   └── warehouse_settings.launch.xml
    │   │   └── package.xml
    │   ├── niryo_one_msgs
    │   │   ├── action
    │   │   │   ├── JoystickJoints.action
    │   │   │   ├── RobotMove.action
    │   │   │   ├── Sequence.action
    │   │   │   └── Tool.action
    │   │   ├── CMakeLists.txt
    │   │   ├── msg
    │   │   │   ├── DigitalIOState.msg
    │   │   │   ├── HardwareStatus.msg
    │   │   │   ├── LogStatus.msg
    │   │   │   ├── MatlabMoveResult.msg
    │   │   │   ├── Position.msg
    │   │   │   ├── ProcessState.msg
    │   │   │   ├── RobotMoveCommand.msg
    │   │   │   ├── RobotState.msg
    │   │   │   ├── RPY.msg
    │   │   │   ├── SequenceAutorunStatus.msg
    │   │   │   ├── Sequence.msg
    │   │   │   ├── ShiftPose.msg
    │   │   │   ├── SoftwareVersion.msg
    │   │   │   ├── ToolCommand.msg
    │   │   │   ├── Trajectory.msg
    │   │   │   └── TrajectoryPlan.msg
    │   │   ├── package.xml
    │   │   └── srv
    │   │       ├── ChangeHardwareVersion.srv
    │   │       ├── ChangeMotorConfig.srv
    │   │       ├── CloseGripper.srv
    │   │       ├── GetDigitalIO.srv
    │   │       ├── GetInt.srv
    │   │       ├── GetPositionList.srv
    │   │       ├── GetSequenceList.srv
    │   │       ├── GetTrajectoryList.srv
    │   │       ├── ManagePosition.srv
    │   │       ├── ManageProcess.srv
    │   │       ├── ManageSequence.srv
    │   │       ├── ManageTrajectory.srv
    │   │       ├── OpenGripper.srv
    │   │       ├── PingDxlTool.srv
    │   │       ├── PullAirVacuumPump.srv
    │   │       ├── PushAirVacuumPump.srv
    │   │       ├── RobotMove.srv
    │   │       ├── SendCustomDxlValue.srv
    │   │       ├── SetDigitalIO.srv
    │   │       ├── SetInt.srv
    │   │       ├── SetLeds.srv
    │   │       ├── SetSequenceAutorun.srv
    │   │       └── SetString.srv
    │   ├── niryo_one_python_api
    │   │   ├── CMakeLists.txt
    │   │   ├── examples
    │   │   │   └── rpi_example_python_api.py
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_python_api
    │   │           ├── __init__.py
    │   │           └── niryo_one_api.py
    │   ├── niryo_one_rpi
    │   │   ├── CMakeLists.txt
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── scripts
    │   │   │   ├── digital_io_panel.py
    │   │   │   ├── fans_manager.py
    │   │   │   ├── led_manager.py
    │   │   │   ├── motor_debug.py
    │   │   │   ├── niryo_one_button.py
    │   │   │   ├── niryo_one_ros_setup.py
    │   │   │   ├── niryo_one_rpi_node.py
    │   │   │   ├── ros_log_manager.py
    │   │   │   ├── shutdown_manager.py
    │   │   │   └── wifi_connection.py
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_rpi
    │   │           ├── __init__.py
    │   │           ├── rpi_ros_utils.py
    │   │           └── wifi
    │   │               ├── broadcast.py
    │   │               ├── flask_views.py
    │   │               ├── __init__.py
    │   │               ├── network_manager.py
    │   │               └── robot_name_handler.py
    │   ├── niryo_one_tcp_server
    │   │   ├── clients
    │   │   │   ├── python
    │   │   │   │   ├── examples
    │   │   │   │   │   └── calibrate_move.py
    │   │   │   │   ├── niryo_one_tcp_client
    │   │   │   │   │   ├── digital_pin_object.py
    │   │   │   │   │   ├── enums.py
    │   │   │   │   │   ├── hardware_status_object.py
    │   │   │   │   │   ├── __init__.py
    │   │   │   │   │   ├── packet_builder.py
    │   │   │   │   │   ├── pose_object.py
    │   │   │   │   │   └── tcp_client.py
    │   │   │   │   ├── README.md
    │   │   │   │   └── setup.py
    │   │   │   └── README.md
    │   │   ├── CMakeLists.txt
    │   │   ├── img
    │   │   │   └── Niryo One TCP Architecture.jpg
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_tcp_server
    │   │           ├── command_interpreter.py
    │   │           ├── __init__.py
    │   │           └── tcp_server.py
    │   ├── niryo_one_tools
    │   │   ├── CMakeLists.txt
    │   │   ├── config
    │   │   │   └── end_effectors.yaml
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   └── scripts
    │   │       ├── tool_controller.py
    │   │       ├── tool_ros_command_interface.py
    │   │       └── tools.py
    │   ├── niryo_one_user_interface
    │   │   ├── blockly_code_generator
    │   │   │   ├── blockly_code_generator_server.js
    │   │   │   ├── niryo_one_python_generators.js
    │   │   │   ├── package.json
    │   │   │   └── package-lock.json
    │   │   ├── CMakeLists.txt
    │   │   ├── package.xml
    │   │   ├── README.md
    │   │   ├── scripts
    │   │   │   ├── __init__.py
    │   │   │   ├── joystick_interface.py
    │   │   │   ├── matlab_manager.py
    │   │   │   ├── sequence_action_server.py
    │   │   │   ├── sequence_autorun.py
    │   │   │   ├── sequence_manager.py
    │   │   │   └── user_interface.py
    │   │   ├── setup.py
    │   │   └── src
    │   │       └── niryo_one_user_interface
    │   │           ├── __init__.py
    │   │           └── sequences
    │   │               ├── blockly_code_generator.py
    │   │               ├── __init__.py
    │   │               ├── niryo_one_file_exception.py
    │   │               ├── sequence_action_type.py
    │   │               ├── sequence_code_executor.py
    │   │               ├── sequence_command_type.py
    │   │               ├── sequence_file_handler.py
    │   │               └── sequence.py
    │   └── README.md
    └── niryo_one_ros_simulation
        ├── LICENSE
        ├── niryo_one_description
        │   ├── CMakeLists.txt
        │   ├── config
        │   │   └── default_config.rviz
        │   ├── launch
        │   │   └── display.launch
        │   ├── meshes
        │   │   ├── collada
        │   │   │   ├── arm_link.dae
        │   │   │   ├── base_link.dae
        │   │   │   ├── elbow_link.dae
        │   │   │   ├── forearm_link.dae
        │   │   │   ├── hand_link.dae
        │   │   │   ├── shoulder_link.dae
        │   │   │   └── wrist_link.dae
        │   │   └── stl
        │   │       ├── arm_link.stl
        │   │       ├── base_link.stl
        │   │       ├── elbow_link.stl
        │   │       ├── forearm_link.stl
        │   │       ├── hand_link.stl
        │   │       ├── shoulder_link.stl
        │   │       └── wrist_link.stl
        │   ├── package.xml
        │   └── urdf
        │       ├── gazebo_niryo_one.urdf.xacro
        │       └── niryo_one.urdf.xacro
        ├── niryo_one_gazebo
        │   ├── CMakeLists.txt
        │   ├── config
        │   │   └── niryo_one_controllers.yaml
        │   ├── launch
        │   │   ├── niryo_one_control.launch
        │   │   └── niryo_one_world.launch
        │   └── package.xml
        ├── niryo_one_moveit_config
        │   ├── CMakeLists.txt
        │   ├── config
        │   │   ├── controllers.yaml
        │   │   ├── fake_controllers.yaml
        │   │   ├── joint_limits.yaml
        │   │   ├── kinematics.yaml
        │   │   ├── niryo_one.srdf
        │   │   └── ompl_planning.yaml
        │   ├── launch
        │   │   ├── default_warehouse_db.launch
        │   │   ├── demo.launch
        │   │   ├── fake_moveit_controller_manager.launch.xml
        │   │   ├── joystick_control.launch
        │   │   ├── move_group.launch
        │   │   ├── moveit.rviz
        │   │   ├── moveit_rviz.launch
        │   │   ├── niryo_one_moveit_controller_manager.launch.xml
        │   │   ├── niryo_one_moveit_sensor_manager.launch.xml
        │   │   ├── ompl_planning_pipeline.launch.xml
        │   │   ├── planning_context.launch
        │   │   ├── planning_pipeline.launch.xml
        │   │   ├── run_benchmark_ompl.launch
        │   │   ├── sensor_manager.launch.xml
        │   │   ├── setup_assistant.launch
        │   │   ├── trajectory_execution.launch.xml
        │   │   ├── warehouse.launch
        │   │   └── warehouse_settings.launch.xml
        │   └── package.xml
        ├── niryo_one_ros_simulation
        │   ├── CMakeLists.txt
        │   └── package.xml
        └── README.md

182 directories, 573 files

After I run catkin_make, I got the following error:

yiying@matebook-x:~/catkin_ws$ catkin_make
Base path: /home/yiying/catkin_ws
Source space: /home/yiying/catkin_ws/src
Build space: /home/yiying/catkin_ws/build
Devel space: /home/yiying/catkin_ws/devel
Install space: /home/yiying/catkin_ws/install
Multiple packages found with the same name "niryo_one_description":
- niryo_one_ros/niryo_one_description
- niryo_one_ros_simulation/niryo_one_description
Multiple packages found with the same name "niryo_one_moveit_config":
- niryo_one_ros/niryo_one_moveit_config
- niryo_one_ros_simulation/niryo_one_moveit_config

How do I install both of the packages? Thanks.

issue regarding testing modbus_server_test.py

while running the command "rosrun niryo_one_modbus modbus_server_test.py" to run the server

got this error:

Traceback (most recent call last):
File "/home/joseph/Niryo_ws/src/niryo_one_ros/niryo_one_modbus/examples/modbus_server_test.py", line 9, in
server = ModbusServer("0.0.0.0", 5020)
File "/home/joseph/Niryo_ws/src/niryo_one_ros/niryo_one_modbus/src/niryo_one_modbus/modbus_server.py", line 40, in init
self.holding_register = HoldingRegisterDataBlock()
File "/home/joseph/Niryo_ws/src/niryo_one_ros/niryo_one_modbus/src/niryo_one_modbus/holding_register_data_block.py", line 104, in init
self.tool_command_list = rospy.get_param("/niryo_one_tools/command_list")
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/client.py", line 467, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/msproxy.py", line 123, in getitem
raise KeyError(key)
KeyError: '/niryo_one_tools/command_list'

looking for help to solve this issue so badly :(

Python 3 support

Hello, is there a way to use this API with python 3 as the support for python 2.7 was dropped earlier this year. If not are there any plans to upgrade this repository to be compatible with python 3?

Schematics

Hello,

I want ask you if there is complete documentation for Niryo-Panel and Niryo-Shield including schematics and if not, can you add it please?

Thank you very much

URDF file

Hi, My name is koki.

I purchase a niryo one robot. And I want to use urdf file.
In this repository, https://github.com/NiryoRobotics/niryo_one_ros/tree/master/niryo_one_description/urdf shows the urdf file. However, when calculating the inverse kinematics using this file, I received wrong result as I expected.

Can I make urdf file from ros in niryo one linux system?
I think each joint's coordinate is difficult to get. For this reason, I want to know how to get the correct urdf file from my own niryo one robot.

By the way, I use ikpy to calculate the inverse kinematics.
https://github.com/Phylliade/ikpy

I write the code like that

from ikpy.chain import Chain
my_chain = Chain.from_urdf_file("model.urdf")
# my_chain.inverse_kinematics([2, 2, 2])
print(my_chain)
ik = my_chain.inverse_kinematics(target_position=[0.076, 0.001, 0.162])
print(ik)
print(my_chain.forward_kinematics(ik)[:3, 3])

Best.

auto calibration infinite loop.

I received my new, assembled Niryo One last week (Dec 28 2018) and everything worked well out of the box. This morning I booted the Niryo One and requested an auto calibration from the python api. Here is what happens next:

Joint 0 (at base of Niryo One closest to rpi) rotates slowly to near +180 degrees, then jerks back and forth a few degrees indefinitly like a limit switch is not triggered.

All other joints behave as expected.

Also, I've repeated the experiment using Niryo One Studio with the same result except I could not kill the process and had to do a remote shutdown from SSH to get it to stop.

FEATURE REQUEST: Add cancel to Auto Calibration interface.

Ros

Quotes around the error reason in the tcp_server protocol are missing

In the documentation for the tcp_server, the format for error messages are given as follows:

Given: SET_LEARNING_MODE
* Returned error: SET_LEARNING_MODE:KO,"Incorrect number of parameter(s) given."

In the implementation, there are no quotes around the error message. This makes it impossible to detect the end of the response. That also exposes a larger problem with the protocol, which is that it is difficult to resynchronize after reading a partial message, since there are no delimiters between responses. Adding a line break after the response would greatly simplify resynchronization.

The python client assumes incorrectly that reads from a tcp socket will return full messages, and will thus break if a partial read is returned. See https://docs.python.org/3/howto/sockets.html , specifically the last 3 paragraphs of the "Using a Socket" section.

extend robot commander to execture precomputed trajectory

I think i found out a possibility to extend the current framework to directly use the robot commander to execute precomputed trajectories (say from a moveIt node running on another system)

Would it be possible to get access rights in order to do a pull request, so you can make a code review and maybe merge it into the master branch?

Best Steve

catkin_make error on Windows

Hi,
I ran catkin_make in Windows 10, ROS noetic, Visual Studio 2019 environment, encountered the following error.
I don't want to run hardware, I just want to use it for simulation, is there any workaround?
Thank you,

C:\catkin_ws>catkin_make
Base path: C:\catkin_ws
Source space: C:\catkin_ws\src
Build space: C:\catkin_ws\build
Devel space: C:\catkin_ws\devel
Install space: C:\catkin_ws\install
####
#### Running command: "ninja build.ninja" in "C:\catkin_ws\build"
####
ninja: no work to do.
####
#### Running command: "ninja -j12 -l12" in "C:\catkin_ws\build"
####
[55/536] Building CXX object niryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\port_handler_linux.cpp.obj
FAILED: niryo_one_ros/dynamixel_sdk/CMakeFiles/dynamixel_sdk.dir/src/port_handler_linux.cpp.obj
C:\PROGRA~2\MICROS~3\2019\BUILDT~1\VC\Tools\MSVC\1428~1.299\bin\Hostx64\x64\cl.exe  /nologo /TP -DNOMINMAX -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"dynamixel_sdk\" -DWIN32_LEAN_AND_MEAN -D_USE_MATH_DEFINES -Ddynamixel_sdk_EXPORTS -IC:\catkin_ws\src\niryo_one_ros\dynamixel_sdk\include -IC:\opt\ros\noetic\x64\include -IC:\opt\ros\noetic\x64\share\xmlrpcpp\cmake\..\..\..\include\xmlrpcpp /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /Zi /O2 /Ob1 /DNDEBUG   /D _VARIADIC_MAX=10 /Zc:__cplusplus /showIncludes /Foniryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\port_handler_linux.cpp.obj /Fdniryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\ /FS -c C:\catkin_ws\src\niryo_one_ros\dynamixel_sdk\src\port_handler_linux.cpp
Note: including file: C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\stdio.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt.h
Note: including file:   C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\vcruntime.h
Note: including file:    C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\sal.h
Note: including file:     C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\concurrencysal.h
Note: including file:    C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\vadefs.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_wstdio.h
Note: including file:   C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_stdio_config.h
Note: including file: C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\fcntl.h
Note: including file: C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\string.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_memory.h
Note: including file:   C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_memcpy_s.h
Note: including file:    C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\errno.h
Note: including file:    C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\vcruntime_string.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_wstring.h
C:\catkin_ws\src\niryo_one_ros\dynamixel_sdk\src\port_handler_linux.cpp(45): fatal error C1083: Cannot open include file: 'unistd.h': No such file or directory
[56/536] Building CXX object niryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\src\mcp_can_rpi.cpp.obj
FAILED: niryo_one_ros/mcp_can_rpi/CMakeFiles/mcp_can_rpi.dir/src/mcp_can_rpi.cpp.obj
C:\PROGRA~2\MICROS~3\2019\BUILDT~1\VC\Tools\MSVC\1428~1.299\bin\Hostx64\x64\cl.exe  /nologo /TP -DNOMINMAX -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"mcp_can_rpi\" -DWIN32_LEAN_AND_MEAN -D_USE_MATH_DEFINES -Dmcp_can_rpi_EXPORTS -IC:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\include -IC:\opt\ros\noetic\x64\include -IC:\opt\ros\noetic\x64\share\xmlrpcpp\cmake\..\..\..\include\xmlrpcpp /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /Zi /O2 /Ob1 /DNDEBUG   /D _VARIADIC_MAX=10 /Zc:__cplusplus -std=c++11 /showIncludes /Foniryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\src\mcp_can_rpi.cpp.obj /Fdniryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\ /FS -c C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp
cl : Command line warning D9002 : ignoring unknown option '-std=c++11'
Note: including file: C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\include\mcp_can_rpi/mcp_can_rpi.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\stdio.h
Note: including file:   C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt.h
Note: including file:    C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\vcruntime.h
Note: including file:     C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\sal.h
Note: including file:      C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\concurrencysal.h
Note: including file:     C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\vadefs.h
Note: including file:   C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_wstdio.h
Note: including file:    C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_stdio_config.h
Note: including file:  C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\time.h
Note: including file:   C:\Program Files (x86)\Windows Kits\10\include\10.0.18362.0\ucrt\corecrt_wtime.h
Note: including file:  C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\include\mcp_can_rpi/mcp_can_dfs_rpi.h
Note: including file:   C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC\14.28.29910\include\stdint.h
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(123): error C4576: a parenthesized type followed by an initializer list is a non-standard explicit type conversion syntax
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(123): error C3861: 'nanosleep': identifier not found
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(150): error C2131: expression did not evaluate to a constant
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(150): note: failure was caused by a read of a variable outside its lifetime
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(150): note: see usage of 'buf_size'
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(151): error C3863: array type 'unsigned char [buf_size]' is not assignable
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(152): error C3863: array type 'unsigned char [buf_size]' is not assignable
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(181): error C2131: expression did not evaluate to a constant
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(181): note: failure was caused by a read of a variable outside its lifetime
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(181): note: see usage of 'buf_size'
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(182): error C3863: array type 'unsigned char [buf_size]' is not assignable
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(183): error C3863: array type 'unsigned char [buf_size]' is not assignable
C:\catkin_ws\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(185): error C3863: array type 'unsigned char [buf_size]' is not assignable
[66/536] cmd.exe /C "cd /D C:\catkin_ws\build\niryo_one_ros\niryo_one_msgs &&...niryo_one_msgs C:/catkin_ws/src/niryo_one_ros/niryo_one_msgs/srv/SetInt.srv "
ninja: build stopped: subcommand failed.
Invoking "ninja -j12 -l12" failed```

standard gripper

Does anyone know how to add a standard gripper on niryo one robot at the rviz visualization?

lack of developper documentation

Hi,

I understand that there are higher priorities than keeping up with the documentation for developing in Ros, so I uploaded some of the code I used to get started to a github repo.

https://github.com/smaassen/niryo_one_tester

It is a basic example for c++ but could be extended with further examples. You are welcome to refer to it as long as you do not have your own examples.

Best

URDF files

Would it be possible to add ".urdf" files generated from xacro and put the ".urdf" files in "niryo_one_description/urdf" folder? I created a PR just for reference. Thank you for your consideration.

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