This document focuses on using the terminal to launch the RVIZ Software and running the rostopic commands. There are two main sections to this document, the launching of the software and the use of rostopic commands in the terminal. The rostopic commands section will not only display the code to enter in the terminal, but also the expected output from the terminal. If the user wants to interact with the COBOTTA in a different way, go back to the What's Next document to see another way. 


The following link provides information and the code related to using the rostopic commands: ROSTOPIC Commands 

 

 

 

 

Launching the RVIZ Software:


This section will focus on launching the RVIZ software to be able to use the rostopic commands in the terminal.




Step 1:

Open a new terminal and enter the following to allow the RIVZ Software to link to the source:



$ source ~/catkin_ws/devel/setup.bash





Step 2:

Enter the following into the terminal to launch the RVIZ Software:



$ roslaunch denso_cobotta_bringup 
denso_cobotta_bringup.launch





Step 3:

Open a new terminal to run the 
rostopic commands since the window where the driver was launched will not allow for more commands to be entered. Enter the following into the new terminal so the rostopic 
commands will link to the source:


$ source ~/catkin_ws/devel/setup.bash





This concludes on launching the software in the terminal. Proceed to the ROSTOPIC Commands in Terminal section.


Finished

 

 

 

 

ROSTOPIC Commands in Terminal:


This section will be used to launch the rostopic command into the terminal and display what each command's expected output from the terminal should be.


Note: 
Some of the rostopic commands work in the terminal when launching the driver rather than launching the software.


Note: 
In order to exit/quit the commands, press 'CTRL + C'.



Button Commands:

Plus Button:

Enter the following into the terminal to read if the plus 
(+) button has been pushed:
$ rostopic echo -c /cobotta/plus_button

Expected Output from Terminal When Not Pushed:

date: False
---


Expected Output from Terminal When Pushed:

data: False
---


Minus Button:

Enter the following into the terminal to read if the minus 
(-) button has been pushed:
$ rostopic echo -c /cobotta/minus_button


Expected Output from Terminal When Not Pushed:

date: False
---


Expected Output from Terminal When Pushed:

data: False
---

Function Button:

Enter the following into the terminal to read if the function 
(O) button has been pushed:
$ rostopic echo -c /cobotta/function_button


Expected Output from Terminal When Not Pushed:

date: False
---


Expected Output from Terminal When Pushed:

data: False
---



Mini IO Commands:


Note: 
To view all of the IO allocations, refer to the DENSO-Wave I/O Port Map and Allocation
user manual.


Mini IO Read:

Enter the following into the terminal to read the Mini IO input data:
$ rostopic echo -c /cobotta/minIO_input

Expected Output from Terminal:

data: 0
---


Mini IO Write:

Enter the following into the terminal to write the Mini IO output data:
$ rostopic pub /cobotta/miniIO_output 
std_msgs/UInt16 "data: 0"

Expected Output from Terminal:

publishing and latching message. 
Press ctrl-C to terminate


Note: 
Bit number 0 (CPU Normal, Terminal 45) is always set to ON and cannot be manipulated.



Robot State Command:

Robot State:

Enter the following into the terminal to read the state of the robot:
$ rostopic echo -c /cobotta/robot_state


Note: 
The robot state will display nothing unless the buttons have been pushed, a CALSET is performed, and the setting of the motor state. The driver or the RVIZ Software can be launched to use this command.



Safety MCU State Command:

Safety MCU:

Enter the following into the terminal to read the state of the Safety MCU.
$ rostopic echo -c / cobotta/safe_state


Note: 
This command will publish the error code when an error happens. Any safety errors will be reported to the Safety MCU State.



Parallel Gripper Commands:


Note: 
The target_position for the gripper only ranges from 0.0 - 0.015 [m]. The speed for the gripper ranges from 1.0 - 100 [m/s]. The effort for the gripper ranges from 6.0 - 20.0 [N]



Open the Electric/Parallel Gripper:

Enter the following into the terminal to open the Electric Gripper completely:
$ rostopic pub /cobotta/
gripper_move/goal \
> denso_cobotta_gripper/
GripperMoveActionGoal \
> "{header: {seq: 0, stamp: 
{secs: 0, nsecs: 0}, frame_id: ''}, \
> goal_id: { stamp: { secs: 0, 
nsecs: 0}}, \
> goal: {target_position: 0.015, 
speed: 10.0, effort: 10.0}}"


Close the Electric/Parallel Gripper:

Enter the following into the terminal to close the Electric Gripper completely:
$ rostopic pub /cobotta/
gripper_move/goal \
> denso_cobotta_gripper/
GripperMoveActionGoal \
> "{header: {seq: 0, stamp: 
{secs: 0, nsecs: 0}, frame_id: ''}, \
> goal_id: { stamp: { secs: 0, 
nsecs: 0}}, \
> goal: {target_position: 0.0, 
speed: 10.0, effort: 10.0}}"


Note: 
If the gripper does not open or close when executing the command, change the effort to the max value (20.0 Newtons)



Vacuum Gripper Commands:


Note: 
In order to be able to use the vacuum, the electric gripper must be swapped with the vacuum gripper by a certified DENSO employee.


Note: 
The power_percentage of the vacuum ranges from 40% to 100%.





Launch the MOVEIT Software Using the Vacuum Gripper:

Enter the following into the terminal to launch the MOVEIT Software that is compatible with the Vacuum Gripper:



$ roslaunch denso_cobotta_bringup 
denso_cobotta_bringup.launch 
gripper_type:=vacuum



Creating Suction with Air:

Enter the following into the terminal to create suction from the Vacuum Gripper:
$ rostopic pub /cobotta/
vacuum_move/goal \
> denso_cobotta_gripper/
VacuumMoveActionGoal \
> "{header: {seq: 0, stamp: 
{secs: 0, nsecs: 0}, frame_id: ''}, \
> goal_id: { stamp: { secs: 0, 
nsecs: 0}}, \
> goal: {target_position: -1, 
power_percentage: 40.0}}"


Stop Blowing/Suction with Air:

Enter the following into the terminal to stop the Vacuum Gripper from blowing/suction:
$ rostopic pub /cobotta/
vacuum_move/goal \
> denso_cobotta_gripper/
VacuumMoveActionGoal \
> "{header: {seq: 0, stamp: 
{secs: 0, nsecs: 0}, frame_id: ''}, \
> goal_id: { stamp: { secs: 0, 
nsecs: 0}}, \
> goal: {target_position: 0, 
power_percentage: 40.0}}"


Creating Blowing with Air:

Enter the following into the terminal to create blowing air from the Vacuum Gripper:
$ rostopic pub /cobotta/
vacuum_move/goal \
> denso_cobotta_gripper/
VacuumMoveActionGoal \
> "{header: {seq: 0, stamp: 
{secs: 0, nsecs: 0}, frame_id: ''}, \
> goal_id: { stamp: { secs: 0, 
nsecs: 0}}, \
> goal: {target_position: 1, 
power_percentage: 40.0}}"


 
 
This concludes the use of commands in the terminal. Go back to the What's Next document to see another option on how to interact with the COBOTTA.



Finished