Difference between revisions of "RCommander"

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(Installation Instructions)
(To Run)
Line 13: Line 13:
  
 
After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):
 
After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):
 +
roslaunch trf_learn trf_rcommander.launch
 +
 +
Wait for it to fully start, make sure there aren't any weird error messages. It should say something like this:
 +
 +
[INFO] [WallTime: 1346435222.987008] left tip thresholds:[1691, 5903, 1829, 1946, 1960, 1775, 5908, 2153, 1951, 2186, 2028, 2258, 2154, 2096, 2437, 1878, 2145, 2398, 1932, 2329, 2797, 1940]
 +
[INFO] [WallTime: 1346435222.987408] right tip thresholds:[2644, 5992, 1920, 2165, 2074, 2113, 5935, 2286, 2049, 2392,  2148, 2385, 2085, 2292, 2368, 2110, 2356, 2777, 2146, 2472, 2796, 2170]
 +
done
 +
[INFO] [WallTime: 1346435222.999198] done with ReactiveGrasper init for the l arm
 +
[INFO] [WallTime: 1346435222.999561] Reactive grasp action ready
 +
[INFO] [WallTime: 1346435223.010962] done with ReactiveGrasper init for the r arm
 +
[INFO] [WallTime: 1346435223.011353] Reactive grasp action ready
 +
 +
Then, in a separate terminal, also ssh into the robot
 +
roslaunch trf_learn trf_learn_supplement.launch
 +
 +
On your local machine run the following to launch rcommander itself.
 
  rosrun trf_learn rcommander_trf.py
 
  rosrun trf_learn rcommander_trf.py
  
roslaunch trf_learn trf_rcommander.launch
+
Finally, launch rviz (in a separate terminal locally):
 +
rosrun rviz rviz

Revision as of 13:51, 31 August 2012

Installation Instructions

Make a directory to checkout code, cd to it then:

wget http://gt-ros-pkg.googlecode.com/git/rcommander/trf_rcommander.rosinstall
rosinstall . trf_rcommander.rosinstall 
rosinstall . /opt/ros/fuerte/

Follow instructions from the last step and insert the state that looks like this "source /home/ishwarya/svn/trf_rcommander/setup.bash" (substitute with your own) into your .bashrc file. After that, type the same command in your terminal (or open up a new one):

rosmake trf_learn

Do the same thing on the robot.

To Run

After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):

roslaunch trf_learn trf_rcommander.launch

Wait for it to fully start, make sure there aren't any weird error messages. It should say something like this:

[INFO] [WallTime: 1346435222.987008] left tip thresholds:[1691, 5903, 1829, 1946, 1960, 1775, 5908, 2153, 1951, 2186, 2028, 2258, 2154, 2096, 2437, 1878, 2145, 2398, 1932, 2329, 2797, 1940]
[INFO] [WallTime: 1346435222.987408] right tip thresholds:[2644, 5992, 1920, 2165, 2074, 2113, 5935, 2286, 2049, 2392,  2148, 2385, 2085, 2292, 2368, 2110, 2356, 2777, 2146, 2472, 2796, 2170]
done
[INFO] [WallTime: 1346435222.999198] done with ReactiveGrasper init for the l arm
[INFO] [WallTime: 1346435222.999561] Reactive grasp action ready
[INFO] [WallTime: 1346435223.010962] done with ReactiveGrasper init for the r arm
[INFO] [WallTime: 1346435223.011353] Reactive grasp action ready

Then, in a separate terminal, also ssh into the robot

roslaunch trf_learn trf_learn_supplement.launch

On your local machine run the following to launch rcommander itself.

rosrun trf_learn rcommander_trf.py

Finally, launch rviz (in a separate terminal locally):

rosrun rviz rviz