中文

This driver is developed on top of Elite_Robots_CS_SDK and support some key cobot functionalities like: motion, set digital io. In addition the ExternalControl EliCOs makes it possible to include ROS2 behaviors in the robot program.

• Elite_Robots_CS_SDK
• ROS2 - humble
• Ubuntu22.04

• eli_common_interface - some common service or message interface.
• eli_dashboard_interface - package defining messages used by dashboard node.
• eli_cs_controllers - implementations of controllers specific for Elite CS robots.
• eli_cs_robot_calibration - tool for extracting calibration information from a real robot.
• eli_cs_robot_description - description files and meshes for Elite CS Robots manipulators.
• eli_cs_robot_driver - driver / hardware interface for communication with Elite CS robots.
• eli_cs_robot_simulation_gz - Example files and configurations for Gazebo simulation of Elite CS Robots' manipulators.
• eli_cs_robot_moveit_config - example MoveIt configuration for Elite CS robots.

For getting started, you'll basically need follow steps:

1. If your system is Ubuntu20.04, Ubuntu22.04 or Ubuntu24.04, you can run the following command to install elite-cs-series-sdk:

   sudo add-apt-repository ppa:elite-robots/cs-robot-series-sdk
   sudo apt update
   sudo apt install elite-cs-series-sdk

   Else, you must install the elite-cs-series-sdk from source.

2. Ensure your ros environment. And recommended to run the following command to resolve the dependency issue:

   sudo apt update
   rosdep install --ignore-src --rosdistro $ROS_DISTRO --from-paths src -y

3. Compile driver

   # create a workspace
   mkdir -p elite_ros_ws/src
   # move source code to worksapce
   mv Elite_Robots_CS_ROS2_Driver  elite_ros_ws/src
   cd elite_ros_ws
   # compile
   colcon build

4. Install

   . install/setup.bash

5. Start the driver. See the usage documentation for details

   ros2 launch eli_cs_robot_driver elite_control.launch.py robot_ip:=<robot ip> local_ip:=<your pc ip> cs_type:=cs66

6. Unless started in headless mode: Run the task which contain ExternalControl node by pressing play on the teach pendant.

tips:

• If the compilation fails, you can check that the version of the dependency package matches. dependency list
• If use real robot, ensure your robot FB1 and FB2 connected to network.