# mxw-robot

> Maxwhere component to visualize and control robots from ROS

Latest version **1.0.9** (published 2017-11-02) · ISC license · 0 weekly downloads

## Install

```sh
npm install mxw-robot
pnpm add mxw-robot
yarn add mxw-robot
bun add mxw-robot
```

## Health

**Score 15/100 (F)** — status: abandoned.

Positive: no vulnerabilities.

Warnings: low downloads; no types; no esm support.

Negative: abandoned; low maintenance score.

## Facts

| | |
|---|---|
| Version | 1.0.9 |
| Published | 2017-11-02 |
| First published | 2017-11-01 |
| Weekly downloads | 0 |
| License | ISC |
| TypeScript types | none |
| Module format | CommonJS |
| Dependencies | 0 |
| Known vulnerabilities | 0 |
| Install scripts | no |
| GitHub stars | 2 |
| Author | Adam Gyula Nemes |
| Maintainers | nemesgyadam |
| Keywords | mxw, maxwhere, ROS, robotwebtools, robot, industrial_robot |

## Links

- npm: https://www.npmjs.com/package/mxw-robot
- Repository: https://github.com/nemesgyadam/mxw_robot_component
- Homepage: https://github.com/nemesgyadam/mxw_robot_component#readme
- Issues: https://github.com/nemesgyadam/mxw_robot_component/issues
- npm.io page: https://npm.io/package/mxw-robot

## Recent versions

- 1.0.9 (latest) — 2017-11-02
- 1.0.8 — 2017-11-02
- 1.0.7 — 2017-11-02
- 1.0.6 — 2017-11-02
- 1.0.5 — 2017-11-02
- 1.0.4 — 2017-11-02
- 1.0.3 — 2017-11-02
- 1.0.2 — 2017-11-02
- 1.0.1 — 2017-11-01
- 1.0.0 — 2017-11-01

## README

# mxw_robot_component
Maxwhere module written in nodejs, to visualize and control "any" robot from Robot Operating System


![alt text](https://github.com/nemesgyadam/mxw_robot_component/blob/master/iiwa.JPG "KUKA IIWA with controller")

![alt text](https://github.com/nemesgyadam/mxw_robot_component/blob/master/mxw_robots.JPG "Different robots")

![alt text](https://github.com/nemesgyadam/mxw_robot_component/blob/master/cloud_robots.JPG "Robots running in cloud computer")

# Usage:
Copy the module to components/robot folder (which is next to your app.js)

### In maxwhere app:
const robot = require('./components/robot')
wom.installComponent(require('./components/robot'), 'robot')

Add the robot node to your app (for example to the wom load ready function), and specify your settings file:

  ```
  wom.render(<robot file='settings.txt' controller={controller}
  />)
  ```
  
  ### Config
  Createing settings file (location /robot/resources/):
  Parameters:
  * auto_load(default:0)                    <---automaticly load robot(s)
  * show_controller(default:0)              <---add controler browser window to robot(s)
  * show_joint_controller(default:0)        <---add joint controller browser windows to robot(s) (show only when succecfully connected)
  * debug_controller(default:0)             <---show js debug console to (the first) controler browser
  * debug_joint_controller(default:0)       <---show js debug console to (the first) joint controler browser
  
  ### Adding robot(s)
  Plus specify one or more robot:
* ROS_IP [IP:PORT of ROS]
* position {optional} [position of the robot]  --default { x: 0, y: 0, z: 0 },
* rate {optional} [update frequency of tf]     --default 60
* BaseLink {optional} [fix link of the robot]  --default "base_link"
* scale {optional} [scale of the robot]        --default 1
* zoom {optional} [if the mesh was increased during convertation, you can set it here] --default 1
     
  For example:
  
  ```
  ROS_IP=163.172.157.86:9090;position={{ x: 600, y: 0, z: -300 }};rate=50;BaseLink=world;zoom=100;scale=1
  ```
  
  For complete example check settings.txt in resources folder
  
  ### Meshes
  
  Finally place the mesh files of the robot to resources folders subfolder named the same as the robots name specified in the URDF file
 
  For example:
 
  resources/iiwa/
  
  ## **IMPORANT!**
  Maxwhere uses ogre mesh files (http://www.ogre3d.org/tikiwiki/tiki-index.php) so if you have other format you must convert it to ogre   mesh(for help check ConvertReadMe)
  
  OR you can use one of the preconverted robots available in the following link:
  
  https://drive.google.com/drive/folders/0B-bi1_x93sJ5dUNnWVFwRmRybzA?usp=sharing
  
  Available robots are:
  
* ABB IRB2400
* ABB IRB5400
* ABB IRB6600
* ABB IRB6400
* FANUC LRMATE200IC
* FANUC M10IA
* FANUC M16IB
* FANUC M20IA
* FANUC M430IA2P
* KUKA IIWA7
* KUKA IIWA14
* KUKA YOUBOT

# Description

The project built on the robotwebtools project roslib.js module.

https://github.com/RobotWebTools/roslibjs


## ROS

There are the follwing important things must be running on ROS in order to use the modul:

### Robot Description
The robot's URDF file must be loaded to the ROS's robot_description parameter

For example:
  ```
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_irb6600_support)/urdf/irb6640.xacro'" />
  ```

The module reads this to get all the neccesary detail about the robot. For example links and joints etc.

### Transfer Function

**The module reads the robots movement from the /tf topic**

So there must be a /tf topic and the robots position must be forwarded to it.

### Rosbridge Server

You must install and run a rosbridge server as specified here:

http://wiki.ros.org/rosbridge_server

It connects ROS with javascript, allowing for example to subscribe and to publish to any ROS topic.

### Robot State Publisher

You must install and run a robot state publisher server as specified here:

http://wiki.ros.org/robot_state_publisher

It publish the state of the robot to the /tf topic.

### Joint State Publisher

In order to control the robot, you must install and run a joint state publisher server as specified here:

http://wiki.ros.org/joint_state_publisher

### Editing launch file

If you add the following lines to your launch file the packages and nodes will start automaticly
  ```
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
  ```

## Example projects

The module has been tested with the follwing ROS projects:

https://github.com/ros-industrial/abb

https://github.com/SalvoVirga/iiwa_stack

https://github.com/ros-industrial/fanuc

!Note you must add Rosbridge, Robot State Publisher and Joint State Publisher to these projects in order to work with the module.

---
_Source: https://npm.io/package/mxw-robot · Machine-readable twin of the npm.io package page. Health data is recomputed on every publish._