add Gazebo

mycobot_280_M5(2023)cn/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md

@@ -0,0 +1,140 @@
+### 本地 1.操作流程
+#### 1.1 安装前提
+
+要使用此包，需先安装[Python api](https://github.com/elephantrobotics/pymycobot.git)库。
+
+```bash
+pip install pymycobot --user
+ros1 noetic
+```
+
+#### 1.2 包的下载与安装
+
+下载包到你的ros工作空间中
+
+```bash
+$ cd ~/catkin_ws/src
+$ git clone https://github.com/jiaweilong66/280m5_gripper_gazebo.git
+$ cd ~/catkin_ws
+$ catkin_make
+$ source devel/setup.bash
+```
+MyCobot_280_m5-Gazebo使用说明
+1. 滑块控制
+现已实现通过joint_state_publisher_gui的滑块控制机械臂模型在Gazebo中的位姿
+确认将真实的机械臂连接到电脑以后，查看机械臂连接的端口：
+
+```bash
+ls /dev/tty*
+/dev/ttyACM0 or /dev/ttyUSB0
+```
+
+得到如下的输出结果：
+
+```bash
+/dev/tty    /dev/tty26  /dev/tty44  /dev/tty62      /dev/ttyS20
+/dev/tty0   /dev/tty27  /dev/tty45  /dev/tty63      /dev/ttyS21
+/dev/tty1   /dev/tty28  /dev/tty46  /dev/tty7       /dev/ttyS22
+/dev/tty10  /dev/tty29  /dev/tty47  /dev/tty8       /dev/ttyS23
+/dev/tty11  /dev/tty3   /dev/tty48  /dev/tty9       /dev/ttyS24
+/dev/tty12  /dev/tty30  /dev/tty49  /dev/ttyACM0   (/dev/ttyUSB0)
+/dev/tty13  /dev/tty31  /dev/tty5   /dev/ttyprintk  /dev/ttyS26
+/dev/tty14  /dev/tty32  /dev/tty50  /dev/ttyS0      /dev/ttyS27
+/dev/tty15  /dev/tty33  /dev/tty51  /dev/ttyS1      /dev/ttyS28
+/dev/tty16  /dev/tty34  /dev/tty52  /dev/ttyS10     /dev/ttyS29
+/dev/tty17  /dev/tty35  /dev/tty53  /dev/ttyS11     /dev/ttyS3
+/dev/tty18  /dev/tty36  /dev/tty54  /dev/ttyS12     /dev/ttyS30
+/dev/tty19  /dev/tty37  /dev/tty55  /dev/ttyS13     /dev/ttyS31
+/dev/tty2   /dev/tty38  /dev/tty56  /dev/ttyS14     /dev/ttyS4
+/dev/tty20  /dev/tty39  /dev/tty57  /dev/ttyS15     /dev/ttyS5
+/dev/tty21  /dev/tty4   /dev/tty58  /dev/ttyS16     /dev/ttyS6
+/dev/tty22  /dev/tty40  /dev/tty59  /dev/ttyS17     /dev/ttyS7
+/dev/tty23  /dev/tty41  /dev/tty6   /dev/ttyS18     /dev/ttyS8
+/dev/tty24  /dev/tty42  /dev/tty60  /dev/ttyS19     /dev/ttyS9
+/dev/tty25  /dev/tty43  /dev/tty61  /dev/ttyS2
+```
+
+打开通信，给脚本添加执行权限
+
+```bash
+sudo chmod -R 777 /dev/ttyACM0  or sudo chmod -r 777 /dev/ttyUSB0
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/follow_display_gazebo.py
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/slider_control_gazebo.py
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/teleop_keyboard_gazebo.py
+roscor
+```
+
+确认好端口后，打开一个终端输入以下命令，注意port改成上一步查询到的值
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200
+```
+
+接着打开另外一个终端，输入如下命令：
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper slider_control_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+同样记得把端口号修改成上一步查询到的端口号。如果运行成功将会看到如下的终端提示：
+
+```bash
+('/dev/ttyACM0', 115200)
+spin ...
+```
+
+此时便可通过操控joint_state_publisher_gui的滑块来操控Gazebo或者机械臂模型的位姿了。
+
+2. Gazebo模型跟随
+通过如下的命令可以实现Gazebo中的模型跟随实际机械臂的运动而发生位姿的改变，首先运行launch文件：
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper follower.launch _port:=/dev/ttyACM0
+```
+
+如果程序运行成功，Gazebo界面将成功加载机械臂模型，机械臂模型的所有关节都处于原始位姿，即[0,0,0,0,0,0]. 此后我们打开第二个终端并运行：
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper follow_display_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+现在当我们操控实际机械臂的位姿，我们可以看到Gazebo中的机械臂也会跟着一起运动到相同的位姿。
+
+3. 键盘控制
+我们还可以使用键盘输入的方式同时操控Gazebo中机械臂模型与实际机械臂的位姿，首先打开一个终端并输入：
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper teleop_keyboard.launch _port:=/dev/ttyACM0 _baud:=115200
+```
+
+同上一部分相同，我们会看到机械臂模型被加载到Gazebo中，并且所有关节都在初始的位姿上，紧接着我们打开另外一个终端并输入：
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper teleop_keyboard_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+如果运行成功，我们将在终端看到如下的输出信息：
+
+```shell
+Mycobot_280_m5_gripper Teleop Keyboard Controller
+---------------------------
+Movimg options (control the angle of each joint):
+w: joint2_to_joint1++   s: joint2_to_joint1--
+e: joint3_to_joint2++   d: joint3_to_joint2--
+r: joint4_to_joint3++   f: joint4_to_joint3--
+t: joint5_to_joint4++   g: joint5_to_joint4--
+y: joint6_to_joint5++   h: joint6_to_joint5--
+u: joint6output_to_joint6++ j: joint6output_to_joint6--
+o:open gripper          p:close gripper
+Other:
+1 - Go to home pose
+q - Quit
+```
+
+根据上面的提示我们可以知道如何操控机械臂运动了，这里我设置每点击一下机械臂与Gazebo中的机械臂模型会运动1角度，可以尝试长按上述键位中的其中一个键来到达某一位姿。

mycobot_280_M5(2023)cn/README.md

@@ -73,7 +73,8 @@
             * [6.2.1 ROS1环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.2-EnvironmentBuilding.md)
             * [6.2.2 ROS1基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md)
             * [6.2.3 rivz介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md)
-            * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) 
+            * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md)
+            * [6.2.5 Gazebo介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md)
         * [6.3 基于ROS2 开发使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md)
             * [6.3.1 ROS2环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md)
             * [6.3.2 ROS2基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md)

mycobot_280_M5(2023)cn/SUMMARY.md

@@ -41,7 +41,8 @@
             * [6.2.1 ROS1环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.2-EnvironmentBuilding.md)
             * [6.2.2 ROS1基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md)
             * [6.2.3 rivz介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md)
-            * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md) 
+            * [6.2.4 Moveit介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md)
+            * [6.2.5 Gazebo介绍以及使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md)
         * [6.3 基于ROS2 开发使用](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md)
             * [6.3.1 ROS2环境搭建](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md)
             * [6.3.2 ROS2基础](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md)
@@ -119,4 +120,4 @@
        * [灵巧手](4-SupportAndService/Accessories/Robothand.md)
        * [USB相机](4-SupportAndService/Accessories/USBcamera.md)
        * [春笋法兰](4-SupportAndService/Accessories/bamboo.md)  
-    * [致谢](5-Acknowledgments/5-Acknowledgments.md)
+    * [致谢](5-Acknowledgments/5-Acknowledgments.md)

mycobot_280_M5(2023)en/3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md

@@ -0,0 +1,159 @@
+### Local 1. Operation Process
+#### 1.1 Installation Prerequisites 
+
+To use this package, you need to install the [Python API](https://github.com/elephantrobotics/pymycobot.git) library first. 
+
+```bash
+pip install pymycobot --user
+ros1 noetic
+```
+
+
+#### 1.2 Package Download and Installation 
+
+Download the package into your ROS workspace.
+
+```bash
+$ cd ~/catkin_ws/src
+$ git clone https://github.com/jiaweilong66/280m5_gripper_gazebo.git
+$ cd ~/catkin_ws
+$ catkin_make
+$ source devel/setup.bash
+```
+
+
+MyCobot_280_m5-Gazebo User Guide
+1. Slider Control
+The control of the robot arm model's pose in Gazebo through the sliders of joint_state_publisher_gui has now been achieved. Moreover, the pose of the robot arm model in Gazebo and the real robot arm can be controlled simultaneously via the sliders.
+After confirming that the real robot arm is connected to the computer, check the port to which the robot arm is connected: 
+
+```bash
+ls /dev/tty*
+/dev/ttyACM0 or /dev/ttyUSB0
+```
+
+The following output results are obtained: 
+
+```bash
+/dev/tty    /dev/tty26  /dev/tty44  /dev/tty62      /dev/ttyS20
+/dev/tty0   /dev/tty27  /dev/tty45  /dev/tty63      /dev/ttyS21
+/dev/tty1   /dev/tty28  /dev/tty46  /dev/tty7       /dev/ttyS22
+/dev/tty10  /dev/tty29  /dev/tty47  /dev/tty8       /dev/ttyS23
+/dev/tty11  /dev/tty3   /dev/tty48  /dev/tty9       /dev/ttyS24
+/dev/tty12  /dev/tty30  /dev/tty49  /dev/ttyACM0   (/dev/ttyUSB0)
+/dev/tty13  /dev/tty31  /dev/tty5   /dev/ttyprintk  /dev/ttyS26
+/dev/tty14  /dev/tty32  /dev/tty50  /dev/ttyS0      /dev/ttyS27
+/dev/tty15  /dev/tty33  /dev/tty51  /dev/ttyS1      /dev/ttyS28
+/dev/tty16  /dev/tty34  /dev/tty52  /dev/ttyS10     /dev/ttyS29
+/dev/tty17  /dev/tty35  /dev/tty53  /dev/ttyS11     /dev/ttyS3
+/dev/tty18  /dev/tty36  /dev/tty54  /dev/ttyS12     /dev/ttyS30
+/dev/tty19  /dev/tty37  /dev/tty55  /dev/ttyS13     /dev/ttyS31
+/dev/tty2   /dev/tty38  /dev/tty56  /dev/ttyS14     /dev/ttyS4
+/dev/tty20  /dev/tty39  /dev/tty57  /dev/ttyS15     /dev/ttyS5
+/dev/tty21  /dev/tty4   /dev/tty58  /dev/ttyS16     /dev/ttyS6
+/dev/tty22  /dev/tty40  /dev/tty59  /dev/ttyS17     /dev/ttyS7
+/dev/tty23  /dev/tty41  /dev/tty6   /dev/ttyS18     /dev/ttyS8
+/dev/tty24  /dev/tty42  /dev/tty60  /dev/ttyS19     /dev/ttyS9
+/dev/tty25  /dev/tty43  /dev/tty61  /dev/ttyS2
+```
+
+Open communication and Chmod
+
+```bash
+sudo chmod -R 777 /dev/ttyACM0  or sudo chmod -r 777 /dev/ttyUSB0
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/follow_display_gazebo.py
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/slider_control_gazebo.py
+sudo chmod -R 777 280m5_gripper_gazebo/280m5_gazebo_gripper/scripts/teleop_keyboard_gazebo.py
+roscore
+```
+
+After confirming the port, open a terminal and enter the following command. Note that you should replace "port" with the value you found in the previous step. 
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper slider.launch _port:=/dev/ttyACM0 _baud:=115200
+```
+
+
+Then open another terminal and enter the following command: 
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper slider_control_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+
+Also remember to modify the port number to the one queried in the previous step. If the operation is successful, you will see the following terminal prompt: 
+
+```bash
+('/dev/ttyACM0', 115200)
+spin ...
+```
+
+
+At this point, you can control the poses of both the mechanical arm model in Gazebo or the real mechanical arm simultaneously by manipulating the sliders in the joint_state_publisher_gui. 
+
+2. Gazebo Model Following
+The following command can be used to make the model in Gazebo change its pose in accordance with the movement of the actual robotic arm. First, run the launch file: 
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper follower.launch _port:=/dev/ttyACM0
+```
+
+
+If the program runs successfully, the Gazebo interface will successfully load the robotic arm model, and all joints of the robotic arm model will be in the original pose, that is, [0, 0, 0, 0, 0, 0]. After that, we open the second terminal and run: 
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper follow_display_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+
+Now when we control the pose of the actual robotic arm, we can see that the robotic arm in Gazebo will also move to the same pose together. 
+
+3. Keyboard Control
+We can also use keyboard input to simultaneously control the pose of the robotic arm model in Gazebo and the actual robotic arm. First, open a terminal and enter: 
+
+```bash
+source devel/setup.bash
+roslaunch 280m5_gazebo_gripper teleop_keyboard.launch _port:=/dev/ttyACM0 _baud:=115200
+```
+
+
+As in the previous part, we will see the robotic arm model loaded into Gazebo, and all joints are at their initial poses. Then we open another terminal and enter: 
+
+```bash
+source devel/setup.bash
+rosrun 280m5_gazebo_gripper teleop_keyboard_gazebo.py _port:=/dev/ttyACM0 _baud:=115200
+```
+
+
+If the operation is successful, we will see the following output information in the terminal: 
+
+```shell
+Mycobot_280_m5_gripper Teleop Keyboard Controller
+---------------------------
+Movimg options (control the angle of each joint):
+w: joint2_to_joint1++   s: joint2_to_joint1--
+e: joint3_to_joint2++   d: joint3_to_joint2--
+r: joint4_to_joint3++   f: joint4_to_joint3--
+t: joint5_to_joint4++   g: joint5_to_joint4--
+y: joint6_to_joint5++   h: joint6_to_joint5--
+u: joint6output_to_joint6++ j: joint6output_to_joint6--
+o:open gripper          p:close gripper
+Other:
+1 - Go to home pose
+q - Quit
+```
+
+You can find out which interfaces pymycobot provides in `README.md`.
+
+Please go to [here](./READMECN.md).
+
+
+> Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document: 
+
+![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)   ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)
+
+[MyCobot 280m5gazebo中文操作](./READMECN.md)

mycobot_280_M5(2023)en/README.md

@@ -74,6 +74,7 @@ Document Directory
       * [6.2.2 ROS1 Basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md)
       * [6.2.3 rivz Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md)
       * [6.2.4 Moveit Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md)
+      * [6.2.5 GazeboIntroduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md)
    * [6.3 Development and use based on ROS2](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md)
      * [6.3.1 ROS2 environment construction](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md)
      * [6.3.2 ROS2 basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md)

mycobot_280_M5(2023)en/SUMMARY.md

@@ -42,6 +42,7 @@
       * [6.2.2 ROS1 Basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.3-ROS_Basics.md)
       * [6.2.3 rivz Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.4-rivzIntroductionAndUse/README.md)
       * [6.2.4 Moveit Introduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.5-Moveit/README.md)
+      * [6.2.5 GazeboIntroduction and Use](3-FunctionsAndApplications/6.developmentGuide/ROS/12.1-ROS1/12.1.6-Gazebo/README.md)
     * [6.3 Development and use based on ROS2](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.3-ROS2Introduction.md)
       * [6.3.1 ROS2 environment construction](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.1-InstallationOfROS2.md)
       * [6.3.2 ROS2 basics](3-FunctionsAndApplications/6.developmentGuide/ROS/12.2-ROS2/12.2.2-BasicTutorial.md)