Earlier TM ROS1 descriptions vs moveit_config

Here are the simple descriptions and moveit_config packages (group name = "manipulator") provided earlier.

⇒ Please see the section described in the Deprecation Notice below.

Usage

The user must first install the TM ROS1 driver, then place the downloaded necessary packages in the correct path of the TM ROS1 driver directory, and finally build all the packages and source 'setup.bash' in the workspace to make the workspace visible to ROS and make it can be used normally.

The following are two ROS1 introductions to the TM ROS Driver.
TM ROS1 Melodic driver [https://github.com/TechmanRobotInc/tmr_ros1/blob/master/README.md]
TM ROS1 Noetic driver [https://github.com/TechmanRobotInc/tmr_ros1/blob/noetic/README.md]
How to install the TM ROS1 driver? Please refer to the Installation section in the chapter of 2. Feature.

§ Update packages and Installation

Clone this git repository by typing
git clone https://github.com/TechmanRobotInc/earlier-descriptions.git
After the download is done, move all packages or just move some required packages in this early-descriptions repository to your tmdriver_ws/src and build it to complete the installation.
Please refer to the § Usage with demo code & driver (steps 1 to 4) section in the ROS1 introduction of TM ROS Driver.

$ catkin_make
$ source ./devel/setup.bash

For example, some of the required packages

• TM5-900 Robot required packages
  tm5_description
tm5_900_moveit_config
  
• TM5-700 Robot required packages
  tm5_description
tm5_700_moveit_config
  
• TM12 Robot required packages
  tm12_description
tm12_moveit_config
  
• TM14 Robot required packages
  tm14_description
tm14_moveit_config
  
• TM14 Robot non-vision series required packages
  tm14_description
tm14_nonvision_moveit_config
  

Alternatively, the user can use DownGit to download a specific file from GitHub.
First, the user needs to go to the specific folder you want to download, then just copy the link and paste it to the website DownGit to download the file.
Finally move the downloaded files to your tmdriver_ws/src and build it to complete the installation.

For example, download the required files for TM5-900 Robot

• TM5-900 Robot required packages's URL
  https://github.com/TechmanRobotInc/earlier-descriptions/tree/master/tm5_description
https://github.com/TechmanRobotInc/earlier-descriptions/tree/master/tm5_900_moveit_config
  

Copy the link given above and paste it to the website DownGit to download these specific files.

§ MoveIt usage with earlier launch instructions

ROS1 driver usage

After the user has set up the ROS1 environment and built the TM driver based on the specific workspace, please enter your workspace <workspace> by launching the terminal, and remember to make the workspace visible to ROS.

Usage with MoveIt

See Moveit tutorial.

To bring up the MoveIt environment in simulation mode with a virtual TM Robot (Example: TM5-900), by typing

roslaunch tm5_900_moveit_config tm5_900_moveit_planning_execution.launch sim:=True

Or with virtual TM Robot (Example: TM5-900 non-vision series), by typing

roslaunch tm5_900_nonvision_moveit_config tm5_900_moveit_planning_execution.launch sim:=True

The user can also manipulate TM Robot (Example: TM5-900) in the real world, by typing
💡 Do you prepare the TM Robot ready ? Make sure that TM Robot's operating software (TMflow) network settings are ready and the Listen node is running.

roslaunch tm5_900_moveit_config tm5_900_moveit_planning_execution.launch sim:=False robot_ip:=<robot_ip_address>

Or TM Robot (Example: TM5-900 non-vision series), by typing

roslaunch tm5_900_nonvision_moveit_config tm5_900_moveit_planning_execution.launch sim:=False robot_ip:=<robot_ip_address>

The parameter <robot_ip_address> means the IP address of the TM Robot.
⚠️[CAUTION] This demo will let the real TM Robot move, please be careful.

Deprecation Notice

The older TM ROS1 descriptions and moveit_config packages are no longer actively maintained.

💡 Tip: We now use the tm_description and corresponding moveit_config packages (group name ="tmr_arm") instead and recommend that users use the Python script ¹ to replace the nominal robot model with the specific kinematic parameters from your local TM Robot.
¹ For more detailed information, please refer to the 6. TM Robot corrected kinematics value loading and robot description file generation chapter in the ROS1 introduction of TM ROS Driver.