openrr-apps 0.0.5

applications using openrr
Documentation

OpenRR applications

Preprare

Install urdf-viz

cargo install urdf-viz

Install

cargo install openrr-apps

If you are Windows user, ROS is not supported. So remove it.

cargo install openrr-apps --no-default-features --features gui

Option: For UR10 sample

Install Universal Robot software.

Option: For PR2 sample

Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.

How to run openrr_apps_robot_command

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf &
  • Run sample commands.
openrr_apps_robot_command \
  --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

  • Run sample commands with env var
export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml
openrr_apps_robot_command load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Do not forget to unset OPENRR_APPS_ROBOT_CONFIG_PATH before try other settings

UR10 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
  • Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/ur10_cmd_urdf_viz.txt

UR10 (ROS gazebo)

  • Launch gazebo.
roslaunch ur_gazebo ur10.launch
  • Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \
  load_commands ./openrr-apps/command/ur10_cmd_ros.txt

PR2 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
  • Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \
  load_commands ./openrr-apps/command/pr2_cmd_urdf_viz.txt

PR2 (ROS gazebo)

  • Launch gazebo.
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
  • Run sample commands.

Change urdf path in the setting file for your environment.

openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \
  load_commands ./openrr-apps/command/pr2_cmd_ros.txt

How to run openrr_apps_robot_teleop

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf &
  • Connect joystick.

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 = ...
  • Run teleop.
openrr_apps_robot_teleop --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml

UR10 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml

UR10 (ROS gazebo)

  • Launch gazebo.
roslaunch ur_gazebo ur10.launch
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_ros.toml

PR2 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml

PR2 (ROS gazebo)

  • Launch gazebo.
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_ros.toml

How to run openrr_apps_joint_position_sender

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf &
  • Launch openrr_apps_joint_position_sender.
openrr_apps_joint_position_sender \
  --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

  • Run for sample urdf with env var
export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml
openrr_apps_joint_position_sender

Do not forget to unset OPENRR_APPS_ROBOT_CONFIG_PATH before try other settings

Troubleshooting

See openrr-gui crate for troubleshooting.