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ROS package for MAXON motor and EPOS driver

License: MIT License

CMake 24.80% C 41.72% C++ 33.13% Python 0.35%

maxon epos epos2 epos4 ros

maxon_epos_ros's Introduction

Maxon EPOS Package

This is a ROS package for Maxon motor & EPOS driver.

Support Status

This package is WIP now.
v1.0.0 supports multiple EPOS device.

How to use

Install Maxon Linux driver

Firstly you must install maxon official linux driver.
For detail, please look at this official pdf

How to build

Then you have to download this package into your ROS workspace.

$ cd ~/catkin_ws/src
$ git clone https://github.com/iwata-lab/maxon_epos_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

How to use nodes

Run node

You can run nodes by console.
maxon_bringup node reads params from ROS parameter server.

$ rosrun maxon_epos_driver maxon_bringup

Otherwise, you can refer maxon_epos_example package's launch file.

Topics

~/<motor_name>/get_state (msg: maxon_epos_msgs/MotorState)

This topic keep publishing motor current state.
~/<motor_name>/set_state (msg: maxon_epos_msgs/MotorState)

When you send the goal to epos, use this topic.
~/get_all_state (msg: maxon_epos_msgs/MotorStates)

This topic keep publishing all motors current states.
~/set_all_state (msg: maxon_epos_msgs/MotorStates)

When you send the goals to all epos motors, use this topic.

Params

see maxon_epos_example/config/example.yaml

Example

see maxon_epos_example/launch/example_maxon_epos.launch

maxon_epos_ros's People

Contributors

Stargazers

Watchers

Forkers

feng005 ql0yuan azazkamaz badal244 hayashi-lab-soma roscore swankun farshad-heravi mlahoud cristinaluna lyn2018lyn bracu-dichari ccha425

maxon_epos_ros's Issues

roslaunch maxon_epos_example example_maxon_epos.launch error

I have catkin_make successfully, but when I connected to Maxon motor and EPOS4, and run roslaunch maxon_epos_example example_maxon_epos.launch, it occur an error.

Undefined reference to `VCS_OpenSubDevice' and `VCS_CloseSubDevice'

Dear all,
I use ROS1 Noetic with Ubunto 20.04.6 LTS.
I have downloaded and installed the latest Maxon Library from "https://www.maxongroup.com/maxon/view/product/control/Positionierung/546714".
It is Version 6.8.1.0, not Version 6.7.1.0, as suggested by @Roboprotos in Jan 2022.

I git clone maxon_epos_ros.
Then I do this fix: "<build_depend>maxon_epos_driver</build_depend>
that line should be added in the package.xml file inside the maxon_epos_example package"

When I then run catkin_make, it throws this error:

[ 97%] Built target maxon_epos_example_node
/usr/bin/ld: /home/ahkub/Desktop/WorkHere/catkin_ws/devel/lib/libmaxon_epos_driver.so: undefined reference to VCS_OpenSubDevice'** /usr/bin/ld: /home/ahkub/Desktop/WorkHere/catkin_ws/devel/lib/libmaxon_epos_driver.so: undefined reference to **VCS_CloseSubDevice'
collect2: error: ld returned 1 exit status
make[2]: *** [maxon_epos_ros/maxon_epos_driver/CMakeFiles/maxon_bringup.dir/build.make:103: /home/ahkub/Desktop/WorkHere/catkin_ws/devel/lib/maxon_epos_driver/maxon_bringup] Error 1
make[1]: *** [CMakeFiles/Makefile2:1479: maxon_epos_ros/maxon_epos_driver/CMakeFiles/maxon_bringup.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed

Can somebody please help?
Or maybe somebody knows where I can still download EPOS-Linux-Library-En.zip in the old Version 6.7.1.0?

Much appreciated!

It seems some error in launch two motors

Hi!
I have a strange phenomenon that when I use only one motor, there is no mistake, but when I add the second motor, the following problems will appear. And it should not be the problem of yaml file. I can run it when I test it alone. Don't you know if you can help me?

The pdf link provided is not working

This is the link provided and it's not working:
http://academy.maxonjapan.co.jp/wp-content/uploads/manual/epos/EPOS_Command_Library.pdf

successfully run example_maxon_epos.launch, and then...?

Hi I had run example_maxon_epos.launch in branch mulitiple_motors and it shows "motors initialized", so what can I do next to move the motors, I had tried running sample.cpp and sample.py but nothing happened...
Thanks for your help!

cannot find the port

catkin_make error

but I have installed maxon_epos_driver according to your suggestion? Could you share the maxon_epos_driver?

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