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aubo_ros2_driver repositorymessages ros-industrial services universal_robot aubo_dashboard_msgs aubo_gazebo aubo_moveit_config aubo_msgs aubo_ros2_driver ros_joints_plan |
Repository Summary
| Description | |
| Checkout URI | https://github.com/auborobot/aubo_ros2_driver.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-11-21 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | messages ros-industrial services universal_robot |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| aubo_dashboard_msgs | 2.3.2 |
| aubo_gazebo | 0.0.0 |
| aubo_moveit_config | 0.3.0 |
| aubo_msgs | 2.0.0 |
| aubo_ros2_driver | 2.3.2 |
| ros_joints_plan | 0.0.0 |
README
aubo_ros2_driver
遨博机器人ROS2驱动
在 rviz 中 查看 aubo 机器人模型（以 aubo_i5 为例）
ros2 launch aubo_description aubo_viewer.launch.py
驱动真实机械臂 aubo_i5 (修改机器人对应 robot_ip aubo_type)
source install/setup.bash
ros2 launch aubo_ros2_driver aubo_control.launch.py aubo_type:=aubo_i5 robot_ip:=192.168.127.128
use_fake_hardware:=false
ros2 launch aubo_moveit_config aubo_moveit.launch.py aubo_type:=aubo_i5
```# aubo_ros2_driver
遨博机器人ROS2驱动
# 在 rviz 中 查看 aubo 机器人模型（以 aubo_i5 为例）
```bash
ros2 launch aubo_description aubo_viewer.launch.py
驱动真实机械臂 aubo_i5 (修改机器人对应 robot_ip aubo_type)
source install/setup.bash
ros2 launch aubo_ros2_driver aubo_control.launch.py aubo_type:=aubo_i5 robot_ip:=192.168.127.128
use_fake_hardware:=false
ros2 launch aubo_moveit_config aubo_moveit.launch.py aubo_type:=aubo_i5
驱动真实机械臂 aubo_i5单点轨迹执行demo (修改机器人对应 robot_ip aubo_type)
source install/setup.bash
ros2 launch aubo_ros2_driver aubo_control.launch.py aubo_type:=aubo_i5 robot_ip:=192.168.127.128
use_fake_hardware:=false
ros2 launch ros_joints_plan joints_plan.launch.py aubo_type:=aubo_i5
服务节点驱动真实机械臂 (修改机器人对应 robot_ip)
source install/setup.bash
ros2 launch aubo_ros2_driver aubo_client.launch.py robot_ip:=127.0.0.1 log_level:=info
调用示例
source install/setup.bash
ros2 service call /jsonrpc_service aubo_msgs/srv/JsonRpc \
"{cls: 'RobotState', func: 'getTcpPose', params: '[]'}"
响应示例
requester: making request: aubo_msgs.srv.JsonRpc_Request(cls='RobotState', func='getTcpPose', params='[]')
response:
aubo_msgs.srv.JsonRpc_Response(result='[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]', error='None')
异常响应示例(输入错误类’RobotStat’)
requester: making request: aubo_msgs.srv.JsonRpc_Request(cls='RobotStat', func='getTcpPose', params='[]')
response:
aubo_msgs.srv.JsonRpc_Response(result='None', error='{"code": -32601, "message": "method not found: rob1.RobotStat.getTcpPose"}')
aubo_sdk接口参考文档
CONTRIBUTING
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