ROS_teleop_test

• The HMI remote control zm robot using C# program from Windows 10.

• Need to install package and Software.

• Software: Visual Studio 2019 C# Windows Form and .Net Framework 4.8

• Package:

$ sudo apt-get install ros-melodic-rosbridge-server

$ cd <catkin_workspace>/src

$ git clone https://github.com/qaz9517532846/zm_robot.git

$ cd ..

$ catkin_make

zm_robot_teleope HMI.

Run the ROS_teleop_test.

• Step 1. open zm_robot.

$ roslaunch zm_robot_gazebo zm_robot_world.launch

$ roslaunch zm_robot_control zm_robot_control_rviz.launch

• Step 2. create zm_robot_rodsbridge launch file and open it.

  • zm_robot_rodsbridge.launch in zm_robot_control package and input your IP Address and Port.

<launch>
  <node name="rosbridge_websocket" pkg="rosbridge_server" type="rosbridge_websocket" output="screen">
      <param name="address" value="your ip"/>
      <param name="port" value="9090"/>
  </node>
</launch>

$ roslaunch zm_robot_control zm_robot_rodsbridge.launch

• Step 3. open Visual Studio 2019 and ROS_teleop_test.sln

• Step 4. Input IP Adress and Port connect to zm_robot.

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Reference

[1]. siemens/ros-sharp, https://github.com/siemens/ros-sharp

[2]. zm_robot, https://github.com/qaz9517532846/zm_robot

[3]. rosbridge_server, http://wiki.ros.org/rosbridge_server

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