| Note: This tutorial assumes that you have completed the previous tutorials: Starting the Manipulation Pipeline on the PR2 robot, Writing a Simple Pick and Place Application. |
The Pick and Place Keyboard Interface
Description: A simple keyboard interface allowing the user to request the execution of pick and place tasks for the PR2. Written in C++.Tutorial Level: BEGINNER
The keyboard interface is a simple C++ program used to test the pick and place capability.
Robot Setup
Set up the robot the same way as you would for the Writing a Simple Pick and Place Application tutorial.
Starting the Keyboard Interface
use the following command:
roslaunch pr2_pick_and_place_demos pick_and_place_keyboard_interface.launch
Using the Keyboard Interface
Follow the command line prompt to use the keyboard interface.
Note that a set of commands go through the manipulation pipeline. Others, provided as convenience and debug functions, speak directly to the arm navigation, gripper controller or collision environment modules.
For a list of useful rviz markers to be monitored while running the manipulation pipeline see the Troubleshooting page.