Tormach ZA06 Robot Raconteur Driver (Through ROS API)

Robot Raconteur is an object oriented robot communication library. This driver utilize standard RR robot definition.

Prerequisite (Driver):

• Ubuntu
• Python
• Robot Raconteur
• ROS 1

Prerequisite (Client):

• Robot Raconteur (Follow instruction to download, depending on different OS or programming environment)

Instructions:

Running RR driver on Tormach Computer

• (Standard) Start Pathpilot and Docker running on Tormach control computer by double click PathPilot application, load selected version, then

docker exec -it ros-None-ui bash

• (Temp) Start Pathpilot by:

launch-pathpilot-launcher -t docker.pathpilot.com/ros_public:noetic-dist-focal-172.7a5bb919

• (Temp) Launch Docker:

docker exec -it ros-dist-ui bash

• Source ROS directory

source /opt/ros/noetic/setup.bash

Inside docker terminal, run

cd Desktop/Tormach_RR_Driver/
python tormach_driver2.py

Everytime a new docker terminal is started, dependencies will be installed (~1min).

Running RR client

• Jog joint position & Position command example

python tormach_client1.py

• Jog joint velocity & Trajectory command example

* python tormach_client2.py