OpenRR applications
Preprare
Install urdf-viz
cargo install urdf-viz
Build
cargo build --release
cd openrr-apps
cargo build --release --features ros
cd openrr-apps
cargo build --release --no-default-features
For UR10 sample
Install Universal Robot software.
For PR2 sample
Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.
How to run openrr_apps_robot_command
Sample robot
urdf-viz ./openrr-planner/sample.urdf
./target/release/openrr_apps_robot_command \
--config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
load_commands \
./openrr-apps/config/sample_cmd_urdf_viz.txt
UR10 (urdf-viz)
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
Change urdf path in the setting file for your environment.
./target/release/openrr_apps_robot_command \
--config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \
load_commands \
./openrr-apps/config/ur10_cmd_urdf_viz.txt
UR10 (ROS gazebo)
roslaunch ur_gazebo ur10.launch
Change urdf path in the setting file for your environment.
./target/release/openrr_apps_robot_command \
--config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \
load_commands \
./openrr-apps/config/ur10_cmd_ros.txt
PR2 (urdf-viz)
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
Change urdf path in the setting file for your environment.
./target/release/openrr_apps_robot_command \
--config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \
load_commands \
./openrr-apps/config/pr2_cmd_urdf_viz.txt
PR2 (ROS gazebo)
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
Change urdf path in the setting file for your environment.
./target/release/openrr_apps_robot_command \
--config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \
load_commands \
./openrr-apps/config/pr2_cmd_ros.txt
How to run openrr_apps_robot_teleop
Sample robot
urdf-viz ./openrr-planner/sample.urdf
Change below joystick settings in the setting file for your device.
Default value is for 'Sony DualShock 4'.
gil_gamepad_config.device_id = 0
gil_gamepad_config.map.button_map = ...
gil_gamepad_config.map.axis_map = ...
gil_gamepad_config.map.axis_value_map = ...
./target/release/openrr_apps_robot_teleop \
--config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml
UR10 (urdf-viz)
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
Change urdf path and joystick settings (see here) in the setting file for your environment.
./target/release/openrr_apps_robot_teleop \
--config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml \
UR10 (ROS gazebo)
roslaunch ur_gazebo ur10.launch
Change urdf path and joystick settings (see here) in the setting file for your environment.
./target/release/openrr_apps_robot_teleop \
--config-path=./openrr-apps/config/ur10_teleop_config_ros.toml \
PR2 (urdf-viz)
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
Change urdf path and joystick settings (see here) in the setting file for your environment.
./target/release/openrr_apps_robot_teleop \
--config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml \
PR2 (ROS gazebo)
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
Change urdf path and joystick settings (see here) in the setting file for your environment.
./target/release/openrr_apps_robot_teleop \
--config-path=./openrr-apps/config/pr2_teleop_config_ros.toml \
How to run openrr_apps_joint_position_sender
Sample robot
urdf-viz ./openrr-planner/sample.urdf
- Launch openrr_apps_joint_position_sender.
./target/release/openrr_apps_joint_position_sender \
./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
./openrr-planner/sample.urdf
Troubleshooting
See openrr-gui crate for troubleshooting.