panda_teaching
Getting started
This package only works together with the fully git-modules cloned workspace repository. So first you have to clone everythink like it is described on https://git-st.inf.tu-dresden.de/ceti/ros-internal/panda_gazebo_workspace. Second you have to clone this repository inside the src-folder of the workspace.
Running the simulation
Build the catkin workspace and run the simulation with:
catkin build
source devel/setup.bash
roslaunch panda_simulation simulation.launch
Depending on your operating systems language you might need to export the numeric type so that rviz can read the floating point numbers in the robot model correctly:
export LC_NUMERIC="en_US.UTF-8"
Otherwise, the robot will appear in rviz in a collapsed state.
Teaching poses
You can teach the (simulated) robot several poses which can be replayed in the order there where teached.
Steps to teach the robot poses
- Drag the robot in rviz to the target destination.
- Plan and execute the trajectory.
- Use a sourced console and save the pose by typing
rostopic pub /collectPose std_msgs/String 'collect'
. - Do this as much as you want to.
- Replay the poses by typing
rostopic pub /replayPose std_msgs/String 'replay'
in a sourced console.
You can also reset the saved poses by typing rostopic pub /collectPose std_msgs/String 'clear'
.