LaunchFiles

Launch Files

sample.launch

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

ROS Node List

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.

teleop_key.launch

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

ROS Node List

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.

How to Operate

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 "Object_grasped"
	2	Send Message "Task_finished"
	6	Send Message "Is_this_correct?"
	9	Send Message "Give_up"

teleop_key_with_rviz.launch

Start teleop_key_with_rviz.launch to boot other programs such as rviz simultaneously.

$ roslaunch interactive_cleanup teleop_key_with_rviz.launch

ROS Node List

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.