Main.Other History
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- Edit arm_and_hand_motor_ellipsoid.urdf.xacro and replace full_arm_motor.urdf.xacro by full_arm_motor_with_kinect.urdf.xacro
roslaunch sr_hand gazebo_arm_and_hand_motor_ellipsoid.launch
optirun roslaunch sr_hand gazebo_arm_and_hand_motor_ellipsoid.launch
- Run the object manipulation stack
- Run the simulated sensors
roslaunch sr_object_manipulation_launch sr_object_manipulation.launch
roslaunch kclcontloc_sim kclcontloc_sim.launch
- Run the object manipulation stack
roslaunch sr_object_manipulation_launch sr_object_manipulation.launch
rosrun rviz rviz
optirun rosrun rviz rviz
roslaunch sr_hand gazebo_arm_and_hand_motor.launch
roslaunch sr_hand gazebo_arm_and_hand_motor_ellipsoid.launch
- Unpack KCL code to a directory eg and add kclcontloc_sim and kcl_msgsto ROSPATH.
- Unpack KCL code to a directory eg and add kclcontloc_sim and kcl_msgs to ROSPATH.
- Build
rosmake --rosdep-install kclcontloc_sim
- Unpack KCL code to a directory eg and add kclcontloc_sim and kcl_msgsto ROSPATH.
Install the KCL sensors
- Run the controller gui
Configurations
- Reduce the framerate
rosrun sr_control_gui sr_control_gui
rosrun topic_tools throttle messages /camera/depth_registered/points 1
Configurations
- Reduce the framerate
Interfaces
- Run the controller gui
rosrun topic_tools throttle messages /camera/depth_registered/points 1
rosrun sr_control_gui sr_control_gui
Visualizations
@]
- ROSGUI
[@ rosrun rosgui rosgui
- RVIZ
rosrun rviz rviz
NOTE: MAY NEED TO RESET GAZEBO
Visualizations
- Image viewer
rosrun image_view image_view image:=/camera/image/raw
@]
Configurations
- Reduce the framerate
[@ rosrun topic_tools throttle messages /camera/depth_registered/points 1
- Run the object manipulation stack
roslaunch sr_object_manipulation_launch sr_object_manipulation.launch
Connect to the UPMC setup
export ROS_MASTER_URI=http://hand:11311
Installing Shadow Stack
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
- Copy the following code to a file named /tmp/sr_stable.rosinstall:
Installing Additional Tools
- Source control, Python and Rosinstall
sudo apt-get install python-setuptools sudo easy_install -U rosinstall sudo apt-get install bzr bzr-explorer qbzr sudo apt-get install mercurial sudo apt-get install subversion python-svn @]
Installing Shadow Stack
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
- Copy the following code to a file named /tmp/sr_stable.rosinstall:
[@
My experiences with ROS
Installing ros-electric-pr2-desktop
My experiences with ROS
Installing ros-electric-pr2-desktop
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
Compile the thing
Compile the thing
Running it
Running it
My experiences with the Shadow Robot Simulator on ROS
Installing ros-electric-pr2-desktop
My experiences with ROS
Installing ros-electric-pr2-desktop
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
Compile the thing
Compile the thing
Running it
Running it
mkdir /home/alex/ros_workspace
---
- Run the interface
- Run the interface
---
- Run the controller gui
- Run the controller gui
roslaunch sr_hand sr_arm_motor.launch
rosrun sr_control_gui sr_control_gui
---
My experiences with the Shadow Robot Simulator on ROS
Following instructions in http://www.ros.org/wiki/Robots/PR2/electric
- Following instructions in http://www.ros.org/wiki/Robots/PR2/electric
Compile the thing
Running it
- Run the robot simulator
roslaunch sr_hand gazebo_arm_and_hand_motor.launch
---
- Run the interface
roslaunch sr_hand sr_arm_motor.launch
---
- Run the controller gui
roslaunch sr_hand sr_arm_motor.launch
---
GAZEBO=1 rosmake --rosdep-install sr_hand sr_hardware_interface sr_mechanism_controllers sr_mechanism_model sr_gazebo_plugins
GOT ERROR:
GAZEBO=1 rosmake --rosdep-install sr_hand GAZEBO=1 rosmake --rosdep-install sr_hardware_interface GAZEBO=1 rosmake --rosdep-install sr_mechanism_controllers GAZEBO=1 rosmake --rosdep-install sr_mechanism_model GAZEBO=1 rosmake --rosdep-install sr_gazebo_plugins
GOT ERROR:
Following instructions in http://www.ros.org/wiki/Robots/PR2/electric
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list' wget http://packages.ros.org/ros.key -O - | sudo apt-key add - sudo apt-get update sudo apt-get install ros-electric-pr2-desktop
Installing ros-electric-pr2-desktop
- Build extra packages
rosmake sr_external_dependencies rosmake --rosdep-install sr_control_gui cyberglove sr_remappers sr_tactile_sensors sr_kinematics
- Build sr_hand with Gazebo
GAZEBO=1 rosmake --rosdep-install sr_hand sr_hardware_interface sr_mechanism_controllers sr_mechanism_model sr_gazebo_plugins
- Source the created setup.bash
source /home/alex/ros_workspace/setup.bash
Copy the following code to a file named /tmp/sr_stable.rosinstall:
- Copy the following code to a file named /tmp/sr_stable.rosinstall:
Rosinstall this file:
- Rosinstall this file:
Rosinstall this file:
rosinstall /home/alex/ros_workspace/ /tmp/sr_stable.rosinstall /opt/ros/electric
<code>
[@
</code>
@]
<code>
- bzr:
- bzr:
- svn:
- svn:
local-name: cereal_port
local-name: cereal_port
</code>
http://www.ros.org/wiki/Robots/Shadow%20Robot/sources_stable
Copy the following code to a file named /tmp/sr_stable.rosinstall:
- bzr:
uri: lp:sr-ros-interface/stable
local-name: shadow_robot
- bzr:
uri: 'lp:sr-ros-interface-ethercat'
local-name: shadow_robot_ethercat
version: 517
- svn:
uri: 'http://isr-uc-ros-pkg.googlecode.com/svn/stacks/serial_communication/trunk/cereal_port'
local-name: cereal_port
Installing Shadow Robot Simulator in ROS (for HANDLE Project)
http://www.ros.org/wiki/Robots/Shadow%20Robot/sources_stable