| Note: This tutorial assumes that you have completed the previous tutorials: Bringing up Care-O-bot. |
Running a simple grasp script
Description: This tutorial teaches you how to run a script.Tutorial Level: BEGINNER
Next Tutorial: Live visualization of a script Preparing a new script (python)
Software Requirements
If you install Care-o-bot in your pc installing stacks from source http://www.ros.org/wiki/Robots/Care-O-bot/git, you need also the stack cob_tutorials, you can obtain it with the script create_overlay.sh:
sudo apt-get install git-core curl wget https://github.com/ipa320/setup/raw/master/create_overlay.sh -N --no-check-certificate chmod 755 create_overlay.sh ./create_overlay.sh cob_tutorials
Bringing up the robot
First, bringup either a real Care-O-bot or a simulated one (see cob_bringup_sim). To bringup a simulated Care-O-bot
export ROBOT=cob3-3 export ROBOT_ENV=ipa-kitchen roslaunch cob_bringup_sim robot.launch
You should see gazebo starting with a Care-O-bot in the IPA kitchen environment.
Launch the specific launch file for this tutorial, navigation, kdl_solver and parameters
roslaunch cob_script_server_tutorial script_server_tutorial.launch
Running a simple grasp script
Afterwards we can run a script and watch the robot moving either in the gazebo window or with rviz.
rosrun cob_script_server_tutorial simple_grasp.py
You should open rviz to localise the robot in order to the robot can reach the correct positions.
rosrun rviz rviz