#Documentation

##This file is a brief user manual for the inmoov ROS simulation

###Configuration:

• Clone the contents of the repository in the your catkin workspace src folder (That is your source src folder contains, inmoov_description folder, robot_manipulator .. etc)

• To build and run the simulation, open terminal and change directory to your catkin workspace and run the following commands

  • catkin_make
  • catkin_install
  • source ./devel/setup.bash
  • cd catkin_ws/src/inmoov_description
  • roslaunch inmoov_description display.launch model:=robots/inmoov.urdf gui:=True

• To change joint state of the robot either

  1. Use the GUI bar
  2. Send a command over the following format
  • rostopic pub -r 20 /joint_command sensor_msgs/JointState '{header: auto, name: [''], position: [], velocity: [], effort: []}'

  For example, to change the state of all the joints:

  • rostopic pub -r 20 /joint_command sensor_msgs/JointState '{header: auto, name: ['waist_rotate'], position: [-1.043495838866106], velocity: [], effort: []}'
  3. Run in a new terminal (will generate a small waiste joint movement as a proof of concept)
  • rosrun robot_manipulator robot_manipulator_publisher
  4. To check the state joint states from terminal, insert the following command
  • rostopic echo joint_states sensor_msgs/JointState

• Note: URDF description based on AlansRobotLab https://github.com/alansrobotlab/inmoov_ros

ros_inmoov