Simple_arm_ROS

After building the package, source your environment

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash

Make sure to check and install any missing dependencies

$ rosdep install -i simple_arm

Once the simple_arm package has been built, you can launch the simulation environment using

$ roslaunch simple_arm robot_spawn.launch

Interact with the arm using the safe_move service

Open a new terminal and type the following:

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ rosservice call /arm_mover/safe_move "joint_1: 0.0 joint_2: 0.0"

How to view image stream from the camera?

Camera image stream is published to the following topic:

/rgb_camera/image_raw

This stream can be viewed by following command in separate terminal:

$ rosrun image_view image_view image:=/rgb_camera/image_raw

Simulation Interface: