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Commit f35375e7 authored by Johannes Mey's avatar Johannes Mey
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update readme

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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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