| ... | ... | @@ -39,6 +39,13 @@ GoTo *LOOP |
|
|
|
End
|
|
|
|
```
|
|
|
|
|
|
|
|
ROS program
|
|
|
|
```
|
|
|
|
End
|
|
|
|
```
|
|
|
|
|
|
|
|
JS program is used to stream robot position to the computer. ROS program is used to control robot from the computer.
|
|
|
|
|
|
|
|
Put the JS program to the first slot using keys Function + EXE on teach-pendant during visiting the "File/Edit" screen. Run program located in the first slot using the "Start" button located on the controller. To verify that joint positions are transmitted successfully, put mitsubishi_controller package into your ROS workspace, complie and run: "rosrun mitsubishi_controller mitsubishi_joint_state". You should see "Connected to 192.168.0.20:10004" in your terminal. Furthermore, on topic "/jointstate" you should see the current position of the robot in joint coordinates in radians ("rostopic echo /joint_states").
|
|
|
|
|
|
|
|
### PC settings |
|
|
\ No newline at end of file |
