ROS - Mitsubish Robotic Arm

ROS communnication with robot Mitsubish Melfa RV-2AJ

Install ros package:

Install dependencies:

sudo apt install ros-kinetic-cv-bridge
sudo apt install ros-kinetic-freenect-camera 
sudo apt install ros-kinetic-freenect-stack 
sudo apt install ros-kinetic-freenect-launch

Clone the project to the src folder in catkin workspace and compile, like commands bellow:

cd ~/catkin_ws/src
git clone https://github.com/alexandremstf/ros_mitsubishi.git
cd ~/catkin_ws
catkin_make

Command to perform joint movement:

rosrun ros_mitsubishi JointMovementListener.py

Command to publish message to the joint movement topic:

rostopic pub /jointMovement ros_mitsubishi/JointMessage "{j1: 0.0, j2: 0.0, j3: 0.0, j5: 0.0, j6: 0.0, speed: 0.0}"

Command to perform cartesian movement:

rosrun ros_mitsubishi CartesianMovementListener.py

Command to publish message to the cartesian movement topic:

rostopic pub /cartesianMovement ros_mitsubishi/CartesianMessage "{x: 0.0, y: 0.0, z: 0.0, a: 0.0, b: 0.0, speed: 0.0}"

Command to execute kinect xbox 360 package:

roslaunch freenect_launch freenect.launch

Command to visualize one of many types of image that the freenect returns in topics:

rosrun image_view image_view image:=camera/rgb/image_color