This package provides an interface to the SoT and the rh_cop_msgs via an actionlib model. It uses tasks based on the expressiongraph.

To compile this package, it is recommended to create a separate build directory:

mkdir _build-RELEASE cd _build-RELEASE cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_EXE_LINKER_FLAGS_RELEASE=-Xlinker -export-dynamic -Wl,-O1 -Wl,-Bsymbolic-functions -DCMAKE_INSTALL_PREFIX=/path/to/workspace/install -DCXX_DISABLE_WERROR=1 -DCMAKE_CXX_FLAGS=-O3 -pipe -fomit-frame-pointer -ggdb3 .. make install

Please note that CMake produces a 'CMakeCache.txt' file which should be deleted to reconfigure a package from scratch.

In the src/ folder you find the news operators elements to communicate with Rviz.

In the python/ folder you find many scripts:

• addTransformService.py: Provides you a service to be able to add an external frame into the SoT

• server.py: Provides you the actionlib server that communicate with the sm_client in rh_cop/rh_cop_boxy package. Take care of the name of the actionlib, it must be the same for the client and the server.

• map_frames_joints.py: Provides you the correspondance between the frame name in Rviz and the frame name in SoT

• tools_v2.py: Provides you the tools to parse the goal obtained by the server to create all elements required to perform it

• boxy_startup.py: It is the file that you need to initialize the SoT and Boxy

In the scripts/ folder you find:

• simple_sm_action.py: It just the same file than the one in rh_cop_bxy/rh_cop
• test_boxy_sot.py: Provides you a test experiment file to try all options avaible

In terminal A: roslaunch iai_boxy_bringup boxy_sim.launch

In terminal B: rosparam set robot boxy rosrun sot_controller_wrapper start_controller

In terminal C: rosrun dynamic_graph_bridge run_command /path/to/boxy_startup.py rosservice call /start_dynamic_graph

In terminal D: roslaunch sot-rh_cop_interface sot_boxy_test.launch

The last launch file should launch addTransformService node, server node and client node. To add an external frame you need to add this part on your launch file: