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LaunchFiles
Hiroki Yamada edited this page Jan 29, 2018
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In the sample program the HSR grasps the space on the right regardless of the task.
After that the robot moves to the back, opens the gripper, and the task ends.
$ roslaunch interactive_cleanup sample.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- interactive_cleanup_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 interactive_cleanup teleop_key.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_interactive_cleanup
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 | |
| Move Arm | u | Move Arm Up |
| j | Move Arm | |
| m | Stop Arm Down | |
| b | Make Arm - Vertical | |
| c | Make Arm - Horizontal | |
| g | Make Arm - Low position | |
| g | Grasp/Open hand | |
| Message | 1 | Send Message "Is_this_correct?" |
| 2 | Send Message "Task_finished" | |
| Help | h | Show help |
Start teleop_key_with_rviz.launch to boot other programs such as rviz simultaneously.
$ roslaunch interactive_cleanup teleop_key_with_rviz.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_interactive_cleanup
- rviz
You can change port numbers by modifying the launch file.