Driver related

1 About Python

Q: What do the parameters in the send_coords([x,y,z,rx,ry,rz], speed, 1) API mean? What do rx, ry, and rz correspond to in Euler angles? What is the rotation order of Euler angles? And what is the range of values for each parameter?

• A: The parameters in the previous array are the end coordinates of the robot, speed is the speed, and the last parameter is the motion mode. rx, ry, and rz should correspond to rpy, which corresponds to roll, pitch, and yaw respectively. The order of Euler angles is zyx, and zyx is the local coordinate. The value range of X, Y, and Z is -300~300.00 (the value range is undefined, and the inverse kinematics no solution prompt will be returned if it exceeds the range), and the value range of rx, ry, and rz is -180~180.

Q: Are sample tutorials for the Python API provided?

• A: There is a demo available. There is a test code in the Test folder of github. You can execute it with the terminal. " https://github.com/elephantrobotics/pymycobot/tree/main/demo/myCobot_320_demo "

Q: Do different versions of the robotic arm use the same Python API?

• A: The API is the same.

2 About ROS

Q: How do microcontroller-based myCobot and microprocessor-based myCobot run ROS?

• A: The microcontroller-based robotic arm is currently on Ubuntu. You need to download a virtual machine to build a virtual environment and install the Ubuntu system in the virtual environment to run ROS. You can also develop your own ROS. The microprocessor-based robotic arm comes with a ROS environment and can be used directly.

Can a microprocessor based robotic arm be connected to a pc to use ros and moveit?

• A: The current open source data does not have direct communication control. It can be achieved by modifying the existing node files through ros + socket.

Q: Can you provide rviz model files and programming examples?

• A: It is available on our github. " https://github.com/elephantrobotics/mycobot_ros "

Q: When using ROS to start the rviz model file, why does it report an error saying permission denied: '/dev/ttyUSB0'?

• A: It is because the serial port permissions are not given. You should enter sudo chmod 777 port name in the terminal. For example:

  sudo chmod 777 /dev/ttyUSB0
  

Q: When running the slider control and model following commands of ROS, why does the error init() take exactly 2 arguments (3 given) appear?

• A: The pymycobot library is not installed and started.

Q: When using ROS, why are the robot arm angles inconsistent with the model angles after opening the rviz model?

• A: It is very likely that the zero position of the robot arm is not calibrated. The zero position of the robot arm needs to be calibrated.