myCobot
myCobot is the world's smallest and lightest six-axis collaborative robot, jointly produced by Elephant Robotics and M5STACK. It is more than a productivity tool full of imaginations, can carry on the secondary development according to the demands of users to achieve personalized customization.
With a weight of 850g, a payload of 250g and an arm length of 350mm, myCobot is compact but powerful, can not only be matched with a variety of end effectors to adapt to different kinds of application scenarios also support the secondary development of multi-platform software to meet the needs of various scenarios such as scientific research and education, smart home, light industry and commercial applications.
For more information about hardware and software, please see https://www.elephantrobotics.com/en/mycobot-en/.
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Contents
Overview
Homepage
https://www.elephantrobotics.com/en/mycobot-en/
Source Package
https://github.com/elephantrobotics/mycobot_ros
Notes:
Make sure that Atom is flashed into the top Atom and Transponder or minirobot is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
Supported ROS versions:
- Ubuntu 16.04 / ROS Kinetic
- Ubuntu 18.04 / ROS Melodic
- Ubuntu 20.04 / ROS Noetic
Installation
Option 1: Docker
There are two ways to run this project. The first is by running the project in a container, and this requires installing docker (https://docs.docker.com/engine/install/ubuntu/) and installing docker-compose (https://docs.docker.com/compose/install/). The benefit of running in the container is that you can run the project in any version of Linux, as long as your kernel is new enough.
Once docker is installed, run the following command, and the project should show up.
without NVIDIA GPU:
docker-compose build ros && xhost +local:root && docker-compose up ros
with NVIDIA GPU
docker-compose build nvidia-ros && xhost +local:root && docker-compose up nvidia-ros
This command does three things: 1) docker-compose build ros
- This builds the project in a container. That means nothing is installed on your host machine! The first time this runs, this command will take a long while. After running it once, caching will allow this command to run quickly.
2) xhost +local:root
- This command gives X the ability to display GUI's from within the docker container
3) docker-compose up ros
This runs the image specified in the docker-compose.yml, which by default runs the command roslaunch mycobot_320 mycobot_320_slider.launch within the container.
Option 2: Local
1.1 Pre-Requriements
For using this package, the [Python api](https://github.com/elephantrobotics/pymycobot.git) library should be installed first.
pip install pymycobot --user
1.2 Package Download and Install
Install ros package in your src folder of your Catkin workspace.
$ cd ~/catkin_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
1.3 Test Python API
cd ~/catkin_ws/src/mycobot_ros
python test.py
Tutorial
https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/
Slider Control
https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/3-controlAndFollow.html
Teleop with Keyboard
https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/4-keyboard_control.html
MoveIt
https://www.elephantrobotics.com/docs/myCobot-en/3-development/4-ros&moveit/5-moveit.html
Videos
Report a Bug
Please, check and open issues here: https://github.com/elephantrobotics/mycobot_ros/issues
