jetson nano 에는 nvidia-smi가 없어서 비슷한거 찾는데
gpt님께서 jtop을 점지해주심
| sudo apt install python3-pip sudo -H pip3 install -U jetson-stats sudo systemctl restart jtop.service jtop |
cuda 예제 빌드해서 갈구니까
GPU에 올라가긴 한다
+
| nvidia jetson agx thor 아니고 nvidia thor? (0) | 2026.07.24 |
|---|---|
| jetson nano + llama.cpp vulkan (0) | 2026.07.21 |
| jetson nano 4GB / qwen3.5 0.8B (0) | 2026.07.20 |
| jetson nano 과 llama.cpp (cuda 가속, 빌드 포기) (0) | 2026.07.20 |
| jetson nano devloper kit SD card image(A02) (0) | 2026.07.20 |
콘솔로 하니 이상하게 종료시 엔터가 미친듯이 나와서 웹으로 시도.
vulkan 인데도 vulkan 가속을 못 받는지 cpu 100%로 돈다.
최대 성능으로 가동
| $ sudo nvpmodel -q NVPM WARN: fan mode is not set! NV Power Mode: MAXN 0 |
docker 로 서비스 실행
| $ sudo docker run -p 8080:8080 -v /home/jetson/llm:/models ghcr.io/ggml-org/llama.cpp:server-vulkan --chat-template-kwargs "{\"enable_thinking\": false}" -m /models/Qwen3.5-0.8B-Q4_0.gguf -c 4096 --port 8080 --host 0.0.0.0 warn: LLAMA_ARG_HOST environment variable is set, but will be overwritten by command line argument --host 0.00.136.037 W Setting 'enable_thinking' via --chat-template-kwargs is deprecated. Use --reasoning on / --reasoning off instead. 0.00.136.924 I cmn common_param: common_params_print_info: verbosity = 3 (adjust with the `-lv N` CLI arg) 0.00.138.536 W srv llama_server: ----------------- 0.00.138.551 W srv llama_server: CORS is set to allow all origins ('*') and no API key is set 0.00.138.552 W srv llama_server: this can be a security risk (cross-origin attacks) 0.00.138.553 W srv llama_server: more info: https://github.com/ggml-org/llama.cpp/pull/25655 0.00.138.554 W srv llama_server: ----------------- 0.00.139.997 I srv load_model: loading model '/models/Qwen3.5-0.8B-Q4_0.gguf' 0.04.582.967 I srv load_model: initializing, n_slots = 4, n_ctx_slot = 4096, kv_unified = 'true' 0.04.681.224 I srv llama_server: model loaded 0.04.681.254 I srv llama_server: listening on http://0.0.0.0:8080 0.19.911.095 I slot get_availabl: id 3 | task -1 | selected slot by LRU, t_last = -1 0.19.911.286 I slot launch_slot_: id 3 | task 0 | processing task, is_child = 0 0.22.612.244 I slot print_timing: id 3 | task 0 | prompt eval time = 1093.85 ms / 13 tokens ( 84.14 ms per token, 11.88 tokens per second) 0.22.612.263 I slot print_timing: id 3 | task 0 | eval time = 1606.96 ms / 12 tokens ( 133.91 ms per token, 7.47 tokens per second) 0.22.612.266 I slot print_timing: id 3 | task 0 | total time = 2700.81 ms / 25 tokens 0.22.612.276 I slot print_timing: id 3 | task 0 | graphs reused = 11 0.22.612.345 I slot release: id 3 | task 0 | stop processing: n_tokens = 24, truncated = 0 0.32.329.433 I slot get_availabl: id 3 | task -1 | selected slot by LCP similarity, sim_best = 0.243 (> 0.100 thold), f_keep = 0.375 0.32.406.612 I slot launch_slot_: id 3 | task 14 | processing task, is_child = 0 0.37.382.135 I slot print_timing: id 3 | task 14 | prompt eval time = 2254.95 ms / 28 tokens ( 80.53 ms per token, 12.42 tokens per second) 0.37.382.154 I slot print_timing: id 3 | task 14 | eval time = 2720.41 ms / 18 tokens ( 151.13 ms per token, 6.62 tokens per second) 0.37.382.157 I slot print_timing: id 3 | task 14 | total time = 4975.37 ms / 46 tokens 0.37.382.160 I slot print_timing: id 3 | task 14 | graphs reused = 27 0.37.382.205 I slot release: id 3 | task 14 | stop processing: n_tokens = 54, truncated = 0 0.52.606.713 I slot get_availabl: id 3 | task -1 | selected slot by LCP similarity, sim_best = 0.471 (> 0.100 thold), f_keep = 0.611 0.52.606.847 I slot launch_slot_: id 3 | task 35 | processing task, is_child = 0 1.10.385.311 I slot print_timing: id 3 | task 35 | n_decoded = 100, tg = 6.70 t/s, tg_3s = 6.70 t/s 1.11.031.932 I slot print_timing: id 3 | task 35 | prompt eval time = 2847.89 ms / 37 tokens ( 76.97 ms per token, 12.99 tokens per second) 1.11.031.951 I slot print_timing: id 3 | task 35 | eval time = 15577.07 ms / 104 tokens ( 149.78 ms per token, 6.68 tokens per second) 1.11.031.954 I slot print_timing: id 3 | task 35 | total time = 18424.96 ms / 141 tokens 1.11.031.960 I slot print_timing: id 3 | task 35 | graphs reused = 129 1.11.032.011 I slot release: id 3 | task 35 | stop processing: n_tokens = 173, truncated = 0 3.50.029.790 I slot get_availabl: id 3 | task -1 | selected slot by LCP similarity, sim_best = 0.333 (> 0.100 thold), f_keep = 0.382 3.50.175.603 I slot launch_slot_: id 3 | task 142 | processing task, is_child = 0 3.57.905.059 I slot print_timing: id 3 | task 142 | prompt processing, n_tokens = 105, progress = 0.86, t = 7.73 s / 13.58 tokens per second 3.59.618.519 I slot print_timing: id 3 | task 142 | prompt processing, n_tokens = 128, progress = 0.98, t = 9.44 s / 13.56 tokens per second 4.10.877.834 I slot print_timing: id 3 | task 142 | prompt eval time = 9819.15 ms / 132 tokens ( 74.39 ms per token, 13.44 tokens per second) 4.10.877.855 I slot print_timing: id 3 | task 142 | eval time = 10882.92 ms / 72 tokens ( 151.15 ms per token, 6.62 tokens per second) 4.10.877.858 I slot print_timing: id 3 | task 142 | total time = 20702.07 ms / 204 tokens 4.10.877.862 I slot print_timing: id 3 | task 142 | graphs reused = 198 4.10.877.944 I slot release: id 3 | task 142 | stop processing: n_tokens = 269, truncated = 0 |
cpu 에서 10 token/sec 미만으로 나온다.
| msec | token | token/sec |
| 2700.81 (안녕) | 25 | 9.25648231456489 |
| 4975.37 (안녕) | 46 | 9.24554354751506 |
| 18424.96 (너에 대해 소개) | 141 | 7.65266247525096 |
| 20702.07 (golang으로 hello world) | 204 | 9.85408705506261 |
| jetson nano + llama.cpp vulkan (0) | 2026.07.21 |
|---|---|
| jetson nano jtop (0) | 2026.07.20 |
| jetson nano 과 llama.cpp (cuda 가속, 빌드 포기) (0) | 2026.07.20 |
| jetson nano devloper kit SD card image(A02) (0) | 2026.07.20 |
| jetracer donkey car (0) | 2026.04.20 |
by claude
| Jetson Nano 사양 Compute Capability: 5.3 Jetson Nano는 Maxwell 아키텍처 기반 GPU(128 CUDA 코어)를 사용하며, compute capability는 5.3입니다. CUDA 버전 Jetson Nano는 JetPack 버전에 따라 CUDA 버전이 결정됩니다. Nano에서 지원되는 마지막(최신) JetPack은 JetPack 4.6.x 계열이며, 이때 CUDA 10.2가 탑재됩니다. 참고로 Jetson Nano는 32비트 시절부터 나온 구형 라인업(2019년 출시)이라 JetPack 5.x(CUDA 11.x 이상)는 지원하지 않습니다. JetPack 5 이상은 Xavier, Orin 계열부터 지원됩니다 |
netson nano / maxwell 기반 128 cuda core
| GPU NVIDIA Maxwell architecture with 128 NVIDIA CUDA® cores CPU Quad-core ARM Cortex-A57 MPCore processor Memory 4 GB 64-bit LPDDR4, 1600MHz 25.6 GB/s |
[링크 : https://developer.nvidia.com/embedded/jetson-nano]
맥스웰 compute capability - 5.x
| all compute-capability 3.x (Kepler) devices but are not supported on compute-capability 5.x (Maxwell) |
[링크 : https://docs.nvidia.com/cuda/maxwell-compatibility-guide/]
cuda 10.2
| $ cat /etc/nv_tegra_release # R32 (release), REVISION: 7.1, GCID: 29818004, BOARD: t210ref, EABI: aarch64, DATE: Sat Feb 19 17:05:08 UTC 2022 $ nvcc --version nvcc: NVIDIA (R) Cuda compiler driver Copyright (c) 2005-2021 NVIDIA Corporation Built on Sun_Feb_28_22:34:44_PST_2021 Cuda compilation tools, release 10.2, V10.2.300 Build cuda_10.2_r440.TC440_70.29663091_0 |
b10068 인데 cuda 12 와 cuda 13에 대해서 지원한다.
소스에서 빌드한다고 해서 될 게 아닌듯..
| Windows: Windows x64 (CPU) Windows arm64 (CPU) Windows arm64 (OpenCL Adreno) Windows x64 (CUDA 12) - CUDA 12.4 DLLs Windows x64 (CUDA 13) - CUDA 13.3 DLLs Windows x64 (Vulkan) Windows x64 (OpenVINO) Windows x64 (SYCL) Windows x64 (HIP) |
[링크 : https://github.com/ggml-org/llama.cpp/releases]
+
이건 컴파일러 버전이 낮아서라고.. 에라이
| [ 5%] Building CXX object tools/ui/CMakeFiles/llama-ui-embed.dir/embed.cpp.o /home/jetson/src/llama.cpp/tools/ui/embed.cpp:17:10: fatal error: filesystem: No such file or directory #include <filesystem> ^~~~~~~~~~~~ compilation terminated. |
filesystem은 c+17에 도입되었고 8.x 부터 지원.
[링크 : https://jtrimind.github.io/troubleshooting/filesystem/]
| $ g++ --version g++ (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) 7.5.0 Copyright (C) 2017 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. $ sudo apt install gcc-8 g++-8 $ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 update-alternatives: using /usr/bin/gcc-8 to provide /usr/bin/gcc (gcc) in auto mode $ g++ --version g++ (Ubuntu/Linaro 8.4.0-1ubuntu1~18.04) 8.4.0 Copyright (C) 2018 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
cmake 깔고 이상한짓 해도 안되서 포기. vulkan도 잘 안되는 것 같고 머지..?
| sudo apt-get install libssl-dev libssl1.1 /opt/cmake/bin/cmake -B build -DLLAMA_BUILD_SERVER=ON -DLLAMA_BUILD_TOOLS=OFF -DLLAMA_BUILD_UI=OFF /opt/cmake/bin/cmake --build build -j4 |
sharerc 빌드하고 하려니 이 난리. 에라이
| /home/jetson/src/shaderc/third_party/abseil_cpp/absl/base/policy_checks.h:59:2: error: #error "This package requires GCC 10 or higher." #error "This package requires GCC 10 or higher." |
| jetson nano jtop (0) | 2026.07.20 |
|---|---|
| jetson nano 4GB / qwen3.5 0.8B (0) | 2026.07.20 |
| jetson nano devloper kit SD card image(A02) (0) | 2026.07.20 |
| jetracer donkey car (0) | 2026.04.20 |
| jetson nano nvcc 빌드 (0) | 2026.04.06 |
jetpack 이 4.5.1 vs 4.6.1 이라서
많은건 안바라고(!) 용량만 좀 넉넉하면 좋겠네
[링크 : https://developer.nvidia.com/embedded/downloads]
이건 이전에 구워놨던 jetracer 용으로 만들어진 이미지
[링크 : https://github.com/NVIDIA-AI-IOT/jetracer/blob/master/docs/software_setup.md]
| jetson nano 4GB / qwen3.5 0.8B (0) | 2026.07.20 |
|---|---|
| jetson nano 과 llama.cpp (cuda 가속, 빌드 포기) (0) | 2026.07.20 |
| jetracer donkey car (0) | 2026.04.20 |
| jetson nano nvcc 빌드 (0) | 2026.04.06 |
| jetson nvcc 실행하기 (0) | 2026.04.06 |
다빈치 수술 로봇 같이 특정 점을 반드시 지나도록 할 때 그 지나는 점을 RCM 이라고 한다.
TCP 랑은 다르다는데.. 이해가 잘 안가는 중 ㅠㅠ
[링크 : https://pinkwink.kr/756]
| 로봇 제어 Move (0) | 2026.07.08 |
|---|---|
| elephant robototics mycobot ros2 (0) | 2026.07.03 |
| mycobot ros1/ros2 (0) | 2026.07.02 |
| gcode (g-code) (0) | 2026.07.01 |
| mycobot280 pi / TCP(tool center point) (0) | 2026.06.30 |
MoveJ - 먼가 이상하게(?) 휘어져서 갈때. joint 위주
MoveL - 그냥 직선으로만 움직일때 TCP를 선형으로(관절은 더 난리핌)
MoveP - 속도 중심(process?)
MoveCircle - viapoint를 찍어서 시작 - via - 끝 점을 통과하는 arc를 지나도록 계산.
| RCM(Remote Center of Motion) (0) | 2026.07.15 |
|---|---|
| elephant robototics mycobot ros2 (0) | 2026.07.03 |
| mycobot ros1/ros2 (0) | 2026.07.02 |
| gcode (g-code) (0) | 2026.07.01 |
| mycobot280 pi / TCP(tool center point) (0) | 2026.06.30 |
일단은 micro HDMI 연결해서 시도.
다행히 x11 forwarding으로 되네. 모니터 안달아도 되겠다
| ros2shell ros2 run turtlesim turtlesim_node ros2 run turtlesim turtle_teleop_key |
하라는 대로 해보면 아래처럼 나온다.
ssh로 해서 귀찮아서 백그라운드로 돌리고 쑈하는 중
G(gola), B(?) 누르면 아래처럼 메시지가 나온다.
| (ros2 galactic py3)er@er:~$ ros2 run turtlesim turtlesim_node [INFO] [1783047470.975415679] [turtlesim]: Starting turtlesim with node name /turtlesim [INFO] [1783047470.985410507] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000] ^Z [1]+ Stopped ros2 run turtlesim turtlesim_node (ros2 galactic py3)er@er:~$ bg [1]+ ros2 run turtlesim turtlesim_node & (ros2 galactic py3)er@er:~$ ros2 run turtlesim turtle_teleop_key Reading from keyboard --------------------------- Use arrow keys to move the turtle. Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation. 'Q' to quit. [INFO] [1783047541.329042626] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.872528190] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.888733657] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.904818475] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.919834899] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.952188870] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.984665508] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.016009140] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.048402795] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.080809062] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.112165583] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.144652053] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.176082352] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.192223411] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.224715381] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.256142236] [turtlesim]: Rotation goal completed successfully [WARN] [1783047543.335142919] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal [INFO] [1783047543.806747242] [turtlesim]: Rotation goal completed successfully [WARN] [1783047545.833930732] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal [INFO] [1783047545.834608550] [turtlesim]: Rotation goal completed successfully [INFO] [1783047547.348717894] [turtlesim]: Rotation goal completed successfully |
B 눌러서 살짝 돌아간 거북이
실행하면 먼가 나오는데
| (ros2 galactic py3)er@er:~$ rqt_graph |
hide 쪽 다 끄니 먼가 좀 나온다.
아니면 위에 topic을 적어주면 먼가 나온다.
[링크 : https://m.blog.naver.com/zeta0807/221775210962]
-v 옵션 줘서 topic list를 하면 위의 그래프와 동일한 내용이 나온다.
| (ros2 galactic py3)er@er:~$ ros2 topic -h usage: ros2 topic [-h] [--include-hidden-topics] Call `ros2 topic <command> -h` for more detailed usage. ... Various topic related sub-commands optional arguments: -h, --help show this help message and exit --include-hidden-topics Consider hidden topics as well Commands: bw Display bandwidth used by topic delay Display delay of topic from timestamp in header echo Output messages from a topic find Output a list of available topics of a given type hz Print the average publishing rate to screen info Print information about a topic list Output a list of available topics pub Publish a message to a topic type Print a topic's type Call `ros2 topic <command> -h` for more detailed usage. (ros2 galactic py3)er@er:~$ ros2 topic list /parameter_events /rosout /turtle1/cmd_vel /turtle1/color_sensor /turtle1/pose (ros2 galactic py3)er@er:~$ ros2 topic list -v Published topics: * /parameter_events [rcl_interfaces/msg/ParameterEvent] 2 publishers * /rosout [rcl_interfaces/msg/Log] 2 publishers * /turtle1/color_sensor [turtlesim/msg/Color] 1 publisher * /turtle1/pose [turtlesim/msg/Pose] 1 publisher Subscribed topics: * /parameter_events [rcl_interfaces/msg/ParameterEvent] 2 subscribers * /turtle1/cmd_vel [geometry_msgs/msg/Twist] 1 subscriber |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/12.2-ROS2/12.2.2-基础教程.html]
하라는 대로 하니 되긴한다. 좋네~
| (ros2 galactic py3)er@er:~/colcon_ws$ colcon build --symlink-install Starting >>> mycobot_description Starting >>> mycobot_interfaces Starting >>> mypalletizer_interfaces Starting >>> mecharm_interfaces Finished <<< mycobot_description [9.82s] [Processing: mecharm_interfaces, mycobot_interfaces, mypalletizer_interfaces] [Processing: mecharm_interfaces, mycobot_interfaces, mypalletizer_interfaces] Finished <<< mecharm_interfaces [1min 10s] [Processing: mycobot_interfaces, mypalletizer_interfaces] [Processing: mycobot_interfaces, mypalletizer_interfaces] Finished <<< mycobot_interfaces [2min 26s] Starting >>> mycobot_communication Starting >>> mecharm_communication Finished <<< mypalletizer_interfaces [2min 28s] Starting >>> mypalletizer_communication Finished <<< mycobot_communication [10.3s] Starting >>> mybuddy Starting >>> mycobot_280 Finished <<< mecharm_communication [10.4s] Starting >>> mecharm Finished <<< mypalletizer_communication [10.6s] Starting >>> mecharm_pi Finished <<< mecharm [13.1s] Starting >>> mycobot_280jn Finished <<< mybuddy [13.4s] Starting >>> mycobot_280pi Finished <<< mycobot_280 [13.5s] Starting >>> mycobot_320 Finished <<< mecharm_pi [11.9s] Starting >>> mycobot_320pi Finished <<< mycobot_280jn [12.5s] Starting >>> mypalletizer_260 Finished <<< mycobot_320 [12.7s] Finished <<< mycobot_280pi [14.6s] Starting >>> mypalletizer_260_pi Starting >>> ultraarm Finished <<< mycobot_320pi [11.3s] Finished <<< mypalletizer_260 [10.2s] Finished <<< mypalletizer_260_pi [10.3s] Finished <<< ultraarm [10.3s] Summary: 18 packages finished [3min 17s] (ros2 galactic py3)er@er:~/colcon_ws$ source install/setup.bash (ros2 galactic py3)er@er:~/colcon_ws$ ros2 launch mycobot_280pi slider_control.launch.py [INFO] [launch]: All log files can be found below /home/er/.ros/log/2026-07-03-11-17-17-203959-er-9929 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [9959] [INFO] [joint_state_publisher_gui-2]: process started with pid [9961] [INFO] [rviz2-3]: process started with pid [9963] [INFO] [slider_control-4]: process started with pid [9965] [robot_state_publisher-1] Link joint2 had 1 children [robot_state_publisher-1] Link joint3 had 1 children [robot_state_publisher-1] Link joint4 had 1 children [robot_state_publisher-1] Link joint5 had 1 children [robot_state_publisher-1] Link joint6 had 1 children [robot_state_publisher-1] Link joint6_flange had 0 children [robot_state_publisher-1] [INFO] [1783048639.394243790] [robot_state_publisher]: got segment joint1 [robot_state_publisher-1] [INFO] [1783048639.394549934] [robot_state_publisher]: got segment joint2 [robot_state_publisher-1] [INFO] [1783048639.394636748] [robot_state_publisher]: got segment joint3 [robot_state_publisher-1] [INFO] [1783048639.394680932] [robot_state_publisher]: got segment joint4 [robot_state_publisher-1] [INFO] [1783048639.394718784] [robot_state_publisher]: got segment joint5 [robot_state_publisher-1] [INFO] [1783048639.394756061] [robot_state_publisher]: got segment joint6 [robot_state_publisher-1] [INFO] [1783048639.394793246] [robot_state_publisher]: got segment joint6_flange [joint_state_publisher_gui-2] [INFO] [1783048643.531952578] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1783048643.610075662] [joint_state_publisher]: Centering [joint_state_publisher_gui-2] [INFO] [1783048644.027434405] [joint_state_publisher]: Centering [rviz2-3] [INFO] [1783048644.403594556] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1783048644.404085494] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-3] [INFO] [1783048647.151156049] [rviz2]: Stereo is NOT SUPPORTED [slider_control-4] array('d', [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) [slider_control-4] array('d', [-0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549]) |
실제 장비가 움직이는진 모르겠지만 뜨긴한다.
| $ ros2 launch mycobot_280 test.launch.py [INFO] [launch]: All log files can be found below /home/er/.ros/log/2026-07-03-11-23-38-154196-er-10335 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [10367] [INFO] [joint_state_publisher_gui-2]: process started with pid [10369] [INFO] [rviz2-3]: process started with pid [10371] [robot_state_publisher-1] Link joint2 had 1 children [robot_state_publisher-1] Link joint3 had 1 children [robot_state_publisher-1] Link joint4 had 1 children [robot_state_publisher-1] Link joint5 had 1 children [robot_state_publisher-1] Link joint6 had 1 children [robot_state_publisher-1] Link joint6_flange had 0 children [robot_state_publisher-1] Link env had 0 children [robot_state_publisher-1] [INFO] [1783049020.099496084] [robot_state_publisher]: got segment env [robot_state_publisher-1] [INFO] [1783049020.099850118] [robot_state_publisher]: got segment joint1 [robot_state_publisher-1] [INFO] [1783049020.099978210] [robot_state_publisher]: got segment joint2 [robot_state_publisher-1] [INFO] [1783049020.100036728] [robot_state_publisher]: got segment joint3 [robot_state_publisher-1] [INFO] [1783049020.100077783] [robot_state_publisher]: got segment joint4 [robot_state_publisher-1] [INFO] [1783049020.100116357] [robot_state_publisher]: got segment joint5 [robot_state_publisher-1] [INFO] [1783049020.100152116] [robot_state_publisher]: got segment joint6 [robot_state_publisher-1] [INFO] [1783049020.100192041] [robot_state_publisher]: got segment joint6_flange [rviz2-3] [INFO] [1783049023.998647585] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1783049023.999256988] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [joint_state_publisher_gui-2] [INFO] [1783049024.105868138] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1783049024.137961673] [joint_state_publisher]: Centering [joint_state_publisher_gui-2] [INFO] [1783049024.490631764] [joint_state_publisher]: Centering [rviz2-3] [INFO] [1783049026.693983324] [rviz2]: Stereo is NOT SUPPORTED |
| RCM(Remote Center of Motion) (0) | 2026.07.15 |
|---|---|
| 로봇 제어 Move (0) | 2026.07.08 |
| mycobot ros1/ros2 (0) | 2026.07.02 |
| gcode (g-code) (0) | 2026.07.01 |
| mycobot280 pi / TCP(tool center point) (0) | 2026.06.30 |
설치는 나중에 해보고 일단 사용법이나 찾아보는 중
매번 해보려고 해도 잘 안되서 답답하네
장치에서 깔려있는걸로 바로 시도해볼수 있나보다.
| # The default serial port name of mycobot 280-PI version is "/dev/ttyAMA0", and the baud rate is 1000000. ros2 launch mycobot_280pi slider_control.launch.py  |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/12.2-ROS2/12.2.4-rviz介绍及使用/myCobot-280.html]
# The default serial port name of mycobot 280-PI version is "/dev/ttyAMA0", and the baud rate is 1000000. ros2 launch mycobot_280pi teleop_keyboard.launch.py Mycobot Teleop Keyboard Controller --------------------------- Movimg options(control coordinations [x,y,z,rx,ry,rz]): w(x+) a(y-) s(x-) d(y+) z(z-) x(z+) u(rx+) i(ry+) o(rz+) j(rx-) k(ry-) l(rz-) Gripper control: g - open h - close Other: 1 - Go to init pose 2 - Go to home pose 3 - Resave home pose q - Quit currently: speed: 10 change percent: 2  |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/12.2-ROS2/12.2.2-基础教程.html]
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/12.2-ROS2/12.2.3-ROS2介绍.html]
| 로봇 제어 Move (0) | 2026.07.08 |
|---|---|
| elephant robototics mycobot ros2 (0) | 2026.07.03 |
| gcode (g-code) (0) | 2026.07.01 |
| mycobot280 pi / TCP(tool center point) (0) | 2026.06.30 |
| mycobot 280 pi / python (0) | 2026.06.29 |
어떻게 카와이하게 별 모양을 따나 코드 분석
gpt 에서 분석 떠넘김 ㅋㅋ
단위가 없네..
G20 / G21 하면 인치 / 밀리미터로 되는 듯.
[링크 : https://reprap.org/wiki/G-code#G20:_Set_Units_to_Inches]
[링크 : https://reprap.org/wiki/G-code#G21:_Set_Units_to_Millimeters]
G90 으로 절대좌표 모드로 설정하고 그리는데
| G90 // 절대좌표 모드(원점 기준 좌표 사용) G4 S1 // 1초 대기 G01 X170 Y0 Z60 F15 // X170 Y0 Z60 위치로 직선 이동, 이송속도 F15 G4 S1 // 1초 대기 G0 X195.54 Y-32.03 // 빠른 이동으로 별의 시작점으로 이동 G0 Z49.00 // 작업 높이(Z=49)까지 하강 G1 X195.54 Y-9.66 // 직선 가공 G1 X215.61 Y-2.75 // 오른쪽 위 꼭짓점으로 이동 G1 X195.54 Y4.16 // 왼쪽으로 이동 G1 X195.54 Y26.52 // 위쪽 꼭짓점으로 이동 G1 X183.14 Y8.43 // 왼쪽 위 대각선 이동 G1 X163.08 Y15.34 // 왼쪽 꼭짓점으로 이동 G1 X175.48 Y-2.75 // 중앙 방향으로 이동 G1 X163.08 Y-20.84 // 왼쪽 아래 꼭짓점으로 이동 G1 X183.14 Y-13.93 // 오른쪽 아래 대각선 이동 G1 X195.54 Y-32.03 // 시작점으로 복귀하여 도형 완성 G0 Z70.00 // 공구를 안전 높이(Z=70)로 상승 G0 X189.34 Y-2.75 // 다음 작업 또는 대기 위치로 빠른 이동 M21 P0 // 제조사 전용 M코드(예: 펜, 그리퍼, 디지털 출력 등 장비별 기능) |
[링크 : https://github.com/elephantrobotics/pymycobot/blob/main/demo/myCobot_280_demo/five_point_star.nc]
초기 위치와 끝나고 돌아오는 것을 제외하고 그려보면
아래처럼 5각형 별이 그려진다. 순서는 대충 눈으로 따라가면 외곽선만 따라가는 것 같다.
| elephant robototics mycobot ros2 (0) | 2026.07.03 |
|---|---|
| mycobot ros1/ros2 (0) | 2026.07.02 |
| mycobot280 pi / TCP(tool center point) (0) | 2026.06.30 |
| mycobot 280 pi / python (0) | 2026.06.29 |
| 왼손 오른손 좌표계 (0) | 2026.06.22 |
위대하신(!) GPT 님께 질문을 바꾸어서 해보니 답을 내려주시었다!
| from pymycobot.mycobot import MyCobot mc = MyCobot("/dev/ttyAMA0", 1000000) # Tool TCP 설정 # x, y, z, rx, ry, rz mc.set_tool_reference([0, 0, 100, 0, 0, 0]) # End Type을 Tool로 변경 mc.set_end_type(1) |
[링크 : https://chatgpt.com/share/6a435d66-1bd0-83ee-a338-b2b1932bee98]
send_angles([0,0,0,0,0,0], 10) 을 이용해서 쭉 펴면
이렇게 생겨 먹어서 굳이... 하자면 아래 기준 y축 방향이긴 한데
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.1-280/2.1.5-PI-2023.html]
gpt로 물어보고 다시 설명을 보니 다 써있었구나.. -_ㅠ
| T in the figure is the set tool coordinate system. The posture of this coordinate system is consistent with O’, and the relative displacement of the origin has occurred. Use the python function to set the tool coordinate system: set_tool_reference([x, y, z, rx, ry, rz]) //Set tool coordinate system set_end_type(1) //Set the end coordinate system type as tool Assume that the tool coordinate system T is not rotated relative to O' (rx = ry = rz = 0) Assume that the origin of the tool coordinate system T is in the coordinate system O’ at (x = 0, y = 0, z = 100mm) The final tool coordinate system parameter is set_tool_reference(0, 0, 100, 0, 0, 0) |
그런데 왜 끝부분의 z 축은 가장 아래의 x 축을 보고 있는걸까?
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.1-280/Kinematics&Coordinate.html]
| 2.3 set_tool_reference(coords) Function： Set Tool coordinate system。 Parameters： coords: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314 Return Value： None 2.4 get_tool_reference() Function： Get Tool coordinate system。 Return Value： Returns a coordinate list with a length of 6 2.9 set_end_type(end) Function： Set end coordinate system。 Parameters： end: 0 - flange(default)，1 - tool Return Value： None 3.0 get_end_type() Function： Get end coordinate system Return Value： 0 - flange(default)，1 - tool, -1 - error |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.3_coord.html]
+
해보니 잘 된다.
set_end_type() 의 문제였던 듯.
set_end_type(1) 해주고 나서 set_coords() 에서 rx 를 오가게 하니 된다.
| mycobot ros1/ros2 (0) | 2026.07.02 |
|---|---|
| gcode (g-code) (0) | 2026.07.01 |
| mycobot 280 pi / python (0) | 2026.06.29 |
| 왼손 오른손 좌표계 (0) | 2026.06.22 |
| mycobot280_pi urdf (0) | 2026.06.22 |
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