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OLD CCF - The CeTI Cobotic Framework
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This is an archived project. Repository and other project resources are read-only.
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CeTI
ROS
CeTI Cobotic Framework
OLD CCF - The CeTI Cobotic Framework
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f35375e7
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f35375e7
authored
3 years ago
by
Johannes Mey
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@@ -71,25 +71,25 @@ This demonstrator contains two mock-up nodes that can serve as stand-ins for fut
...
@@ -71,25 +71,25 @@ This demonstrator contains two mock-up nodes that can serve as stand-ins for fut
#### Configuration
#### Configuration
-
configure the
collision objects
:
-
configure the
scene (
*not*
required when using the dummy controller)
:
```
```
rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_
objects
.yaml
rostopic pub -1 /scene_config/collision_objects std_msgs/String -f `rospack find ccf`/config_
full
.yaml
```
```
-
configure the bin:
```
rostopic pub -1 /scene_config/collision_bin std_msgs/String -f `rospack find ccf`/config_bin.yaml
```
-
configure the table:
```
rostopic pub -1 /scene_config/collision_table std_msgs/String -f `rospack find ccf`/config_table.yaml
```
A parameter
<safety_mode>
has to be set in the configuration file to "base" or "safe", where the safe modes a safety-space around the table
#### Execution
#### Execution
-
pick an object by id:
`rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
-
pick an object by id:
`rostopic pub -1 /robot/pick std_msgs/String "objectRed1"`
-
place a picked object into a bin by id:
`rostopic pub -1 /robot/place std_msgs/String "binRed"`
-
place a picked object into a bin by id:
`rostopic pub -1 /robot/place std_msgs/String "binRed"`
### Connect to the CGV framework
-
**CASE 1**
The robot controller is
*not*
accepting connections, but the AR server is.
-
ensure a SSH server is running on the AR server
-
On the robot controller, connect to it
```
ssh stadmin@141.76.65.71 -R 6576:localhost:6576
```
### Using the Example with Docker
### Using the Example with Docker
The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container.
The following instructions can be used to run either the cgv dummy or the ros-connector dummy from within a docker container.
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