MG400_Mock

Dobot MG400 Mock Server Package. MG400_Mock let user to replace actual hardware to docker container system. It can make more easy to develop MG400 control system with embeded IK solver.

Prerequisities

• Docker

How to use

Launch an instance

cd MG400_Mock
docker compose -f docker-compose.yml up

If you want to launch multiple instances (e.g. 3 instances), then

docker compose -f docker-compose.yml up --scale dobot=3

Build docker container image

cd MG400_Mock
docker build . -t docker-dobot

Identify container IP address

Docker containers will run in docker's bridge network (172.10.0.0/24), and their IP address can be identified by the following command.

docker inspect -f '{{range .NetworkSettings.Networks}}{{.IPAddress}}{{end}}' docker-dobot-1

If there are more than one docker-dobot container, their name would be docker-dobot-2, docker-dobot-3 etc.

Shutdown

docker compose -f docker-compose.yml down

Test (for debug)

docker compose -f test-docker-compose.yml run test_dobot python3 -m unittest discover -s tests

Setting user defined coordinate systems

• You can define tool coordinate systems through tool.yml in the assets folder.
• user coordinate systems have not been implemented yet.

References

• MG400_ROS2
• Official ROS1 package