Author: Nirmal Giftsun
##Description sot_robot is a ROS based real time controller which loads 'Stack of Tasks' to perform Hierarchical Task Function based Control ##Installation on ubuntu-12.04 with ros-hydro
To install all the packages on ubuntu 12.04 LTS, you should do the following steps:
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install by apt-get (see http://wiki.ros.org/hydro/Installation/Ubuntu) - ros-hydro-desktop-full, - ros-hydro-pr2-robot, - ros-hydro-libccd, - ros-hydro-srdfdom, - urdfdom - urdfdom_headers - ros-hydro-robot_model - ros-hydro-pr2-controllers - ros-hydro-ros-control - git
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Choose a directory on you file system and define the environment variable DEVEL_DIR with the full path to this directory.
- the packages will be cloned into $DEVEL_DIR/src,
- the packages will be installed in $DEVEL_DIR/install. It is recommanded to set variable DEVEL_DIR in your .bashrc for future use.
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Copy Config and Makefile from scripts/installation
- wget -O $DEVEL_DIR/config.sh https://raw.githubusercontent.com/nemogiftsun/sot_robot/hydro/script/installation/config.sh
- wget -O $DEVEL_DIR/src/Makefile https://raw.githubusercontent.com/nemogiftsun/sot_robot/hydro/script/installation/Makefile
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cd into $DEVEL_DIR and type
source config.sh
- cd into $DEVEL_DIR/src and type
make all
roslaunch sot_robot sot_ur_bringup_sim.launch
roslaunch sot_robot spawn_ur_controller.launch
rosrun rviz rviz
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Start the python interactor
rosrun dynamic_graph_bridge run_command -
Run the following. sot.initializeRobot() sot.startRobot() sot.posture_feature.posture.feature.value = (0,0,0,0,0,0,0,0,0,0,0,0)
The first six elements are x,y,z,r,p,y followed by six joints of the ur5 arm.
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Verify if the joint values manifest in rviz
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Start the ur simulator
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Launch the ur robot roslaunch sot_ur_bringup_real_sim.launch
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Launch the sot controller roslaunch spawn_ur_controller.launch
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Start the python interactor
rosrun dynamic_graph_bridge run_command -
Play with the joint positions to check the value
sot.posture_feature.posture.feature.value = (0,0,0,0,0,0,0,0,0,0,0,0)