This package serves as an example on how to communicate with the Niryo One robot arm via ROS, by establishing an action server connection.

This package depends on the actionlib and the niryo_one_msgs packages

Please refer to the of the actionlib package

In your catkin workspace source folder, do

$ git clone https://github.com/NiryoRobotics/niryo_one_ros.git
$ catkin build

this will get you the whole Niryo One ros stack

In your catkin worksapces source folder, do

$ git clone https://github.com/smaassen/niryo_one_tester.git
$ catkin build

An example node that walks you through simple commands like move to pose (rpy, or qutarniion) and close/open gripper

First you have to connect to the niryo one wifi according to their documentation. Onec wifi connection is established you shoudl open a new terminal and change the ROS_MASTER_URI

export ROS_MASTER_URI=http://10.10.10.10:11311

You should now be able to see all the published topics by the robot by typing

rostopic list

In the same terminal window, run the node (for example simple_command_node) by

rosrun niryo_one_tester simple_command_node

The source code is released under a BSD 3-Clause license

Author(s): Steve Maassen
Maintainer: Steve Maassen, [email protected]
Affiliation: Autonomous Systems Lab, ETH Zurich / Disney Research Lab Zurich