panda_teaching

Getting started

This package was tested with the provided simulation workspace. So first you have to clone everything as described in the README of the workspace. Secondly, you have to clone this repository into the src dirctory of the workspace.

Running the simulation

Build the catkin workspace and run the simulation with:

catkin build
source devel/setup.bash
roslaunch panda_teaching simulation.launch

Teaching poses

You can teach the (simulated) robot several poses which can be replayed in the order they where taught.

Steps to teach the robot poses

• Teach a new sequence of poses
  1. Drag the robot in rviz to the target destination.
  2. Plan and execute the trajectory using the rviz planning interface.
  3. Run rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'add'.
  4. Repeat steps 1 to 3 as desired.
• Replay the sequence
  1. Run rostopic pub -1 panda_teaching/poseReplayer std_msgs/String 'replay'.
• Reset the pose sequence
  1. Run rostopic pub -1 panda_teaching/poseRecorder std_msgs/String 'clear'.