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LaunchFiles
In the sample program the HSR grasps the space on the right regardless of the task.
Therefore, the attempt on that task immediately ends if the robot enters the wrong room.
The task fails of course because the robot cannot grasp the object correctly.
$ roslaunch handyman sample.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- handyman_sample
You can change port numbers by modifying the launch file.
Participants can control and move the robot with a keyboard by starting this tool instead of the robot controller.
$ roslaunch handyman teleop_key.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_handyman
You can change port numbers by modifying the launch file.
The operational controls for this program are as follows:
| Key | Description | |
|---|---|---|
| Move | Arrow Keys | Move HSR |
| s | Stop HSR | |
| q/z | Increase/Decrease Moving Speed | |
| Move Arm | y | Move Arm Up |
| h | Stop Arm | |
| n | Move Arm Down | |
| a | Rotate Arm - Vertical | |
| b | Rotate Arm - Upward | |
| c | Rotate Arm - Horizontal | |
| d | Rotate Arm - Downward | |
| g | Grasp/Open hand | |
| Message | 0 | Send Message "I_am_ready" |
| 1 | Send Message "Room_reached" | |
| 2 | Send Message "Object_grasped" | |
| 3 | Send Message "Task_finished" |
Start teleop_key_with_rviz.launch to boot other programs such as rviz simultaneously.
$ roslaunch handyman teleop_key_with_rviz.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_handyman
- rviz
You can change port numbers by modifying the launch file.