TM Trajectory ROS Driver

1. Overview

This is Techman Robot Trajectory ROS Driver.
This package should be used with TM ROS1 Noetic driver.

2. Install

1. Type to create a root workspace directory by starting a terminal:
   For example, tmdriver_ws or catkin_ws, then type to change the current directory into the workspace directory path.
   mkdir ~/tmdriver_ws
cd ~/tmdriver_ws
   

2. Download the TM driver of the git repository into the current directory by typing
   git clone -b noetic https://github.com/TechmanRobotInc/tmr_ros1.git
   

3. Download the TM Trajectory driver of the git repository into the current directory by typing
   git clone https://github.com/TechmanRobotInc/tm_ros_trajectory_driver.git
   

4. Copy the TM Trajectory driver to TM driver and change its name to src
   cp -R tm_ros_trajectory_driver tmr_ros1
mv ~/tmdriver_ws/tmr_ros1 ~/tmdriver_ws/src
   

5. Install the MoveIt environment, by typing
   cd ~/tmdriver_ws/src/tm_ros_trajectory_driver
sudo chmod +x install.sh
./install.sh
   Note: The install.sh installation will only need to be built once, unless it needs to be updated.

6. Build all source code
   cd ~/tmdriver_ws
catkin_make
source ./devel/setup.bash
   

3. Running it in simulator

You can run the TM Trajectory ROS Driver with the following command in the virtual environment

1. Please launch the TM ros driver with MoveIt, we use TM5-900 for example
   roslaunch tm5-900-moveit_config tm5-900_moveit_planning_execution.launch sim:=True
   
2. Please run the TM Trajectory ROS Driver
   rosrun tm_trajectory_driver tm_trajectory_driver

4. Running it in real robot

You can run the TM Trajectory ROS Driver with the following command in a real robot

1. Please launch the TM ros driver with MoveIt, we use TM5-900 for example
   roslaunch tm5-900-moveit_config tm5-900_moveit_planning_execution.launch sim:=False robot_ip:=<your_ip>
   
2. Please run the TM Trajectory ROS Driver
   rosrun tm_trajectory_driver tm_trajectory_driver
   

5. Use the demo codes to commute with TM Trajectory ROS Driver

You can run the demo code to send joint target by typing
rosrun tm_trajectory_driver joint_move_demo
you can also run the demo code to send a cartesian target by typing
rosrun tm_trajectory_driver cartisian_move_demo

6. Get the current robot status

You can get the current robot joints position by typing
rostopic echo /tm_joint_states
You can get the current robot cartesian position by typing
rostopic echo /tm_tool_pose