This repository provides ROS support for PROBOT Anno.
This repo holds source code for ROS versions Kinetic and Melodic.


Wiki for PROBOT Anno Packages

Operating System Install

Operating system version is not less than Ubuntu linux 14.04, both supports 32bit and 64bit system. Ubuntu Linux download:

Please install git and clone repo before the following steps:

$ sudo apt-get install git
$ git clone

Setup Environment

Choose one of the following ways to install.

Install With Script(Recommended)

  1. Run PROBOT ```sh PROBOT Setup Assistant[v1.0.0]

---- ----

  1. Install ROS
  2. Install PROBOT dependent packages
  3. Install PROBOT packages

  1. Install all environment

    [Warn] The system version: Ubuntu 16.04.5 LTS [Warn] The ROS version: kinetic

please choose [0~3]:

2. Choose '3' to install all environment(include 0,1,2).   
3. Besides, you can choose 0~2 to install the separate step with own wishes.   
4. If setup fails, please try again.

__Install With Commands__  

1. Install ROS Desktop-Full with [this tutorials](   

2. Install Dependant Packages:   
    $ ROS_VERSION=`/usr/bin/rosversion -d`   
    $ sudo apt-get install ros-${ROS_VERSION}-moveit-*   
    $ sudo apt-get install ros-${ROS_VERSION}-industrial-*   
    $ sudo apt-get install ros-${ROS_VERSION}-gazebo-ros-control   
    $ sudo apt-get install ros-${ROS_VERSION}-ros-control ros-${ROS_VERSION}-ros-controllers   
    $ sudo apt-get install ros-${ROS_VERSION}-trac-ik-kinematics-plugin   
    $ sudo apt-get install ros-${ROS_VERSION}-usb-cam   
  1. Install PROBOT Packages:
  • Set up a catkin workspace (see this tutorials).
  • Clone the repository into the src/ folder of workspace
  • Use "catkin_make" to build workspace
  • Copy probot_rviz_plugin/plugin/ to 'WORKSPACE_PATH'/devel/lib
  • Set up environment variables:
    $ echo "source ~/'WORKSPACE_PATH'/install/setup.bash" >> ~/.bashrc
    $ source ~/.bashrc

Install Librarys

  1. Install OpenCV

MoveIt! with a simulated robot

You can use MoveIt! to control the simulated robot.

For setting up the MoveIt! to allow motion planning run:

$ roslaunch probot_bringup probot_anno_bringup.launch sim:=true

MoveIt! with Gazebo Simulation

There are launch files available to bringup a simulated robot.

To bring up the simulated robot in Gazebo and moveit, run:

$ roslaunch probot_anno_moveit_config demo_gazebo.launch

To bring up the grasping simulated demo, run:

$ roslaunch probot_grasping probot_anno_grasping_demo.launch

MoveIt! with real Hardware

There are launch files available to bringup a real robot(PROBOT Anno).

Don't forget to source the correct setup shell files and use a new terminal for each command!

To bring up the real robot, then run:

$ roslaunch probot_bringup probot_anno_bringup.launch robot_ip:=

You can use MoveIt! plugin to control the robot.

Additionally, a simple test script that moves the robot to predefined positions can be executed like this:

$ rosrun probot_demo

Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens.


ROS Packages for PROBOT Anno.

Probot_anno Info

⭐ Stars68
🔗 Source
🕒 Last Updatea year ago
🕒 Created4 years ago
🐞 Open Issues3
➗ Star-Issue Ratio23
😎 Authorps-micro