From 2a454d57ef2268dfcbb75e796437e4adc249575f Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Mon, 27 Apr 2020 11:08:02 +0000 Subject: [PATCH] Update README.md: better explanations for the different scenarios --- README.md | 82 +++++++++++++++++++++++++++++++++++++++++++------------ 1 file changed, 64 insertions(+), 18 deletions(-) diff --git a/README.md b/README.md index 002a369..74f4865 100644 --- a/README.md +++ b/README.md @@ -1,24 +1,70 @@ -### Sample applications for ROS combined with a (simulated) Franka Emika Panda robots +# Sample applications for ROS combined with a (simulated) Franka Emika Panda robots + +⚠ This repository must be checked out in a [catkin](http://wiki.ros.org/catkin) +workspace containing the [franka_description](https://git-st.inf.tu-dresden.de/ceti/ros/franka_description), +[panda_moveit_config](https://git-st.inf.tu-dresden.de/ceti/ros/panda_moveit_config), +and [panda_simulation](https://git-st.inf.tu-dresden.de/ceti/ros/panda_simulation) ROS packages provided here. +For more information and installation instructions, please consult the [main project](https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace). Contains different examples for the planning and execution of robotic motions with MoveIt in ROS. -##### The different examples: +## Example Applications -- Planning and simulation based on rviz: `roslaunch panda_simulation simulation.launch` - - RViz window to control the robot ([tutorial](http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html)) - - Gazebo window to observe the executed robot motion - - rqt to show log messages -- Minimal example of an execution of a simple motion: `roslaunch sample_applications sample_minimal_simulation.launch` - - Gazebo window to observe the executed robot motion -- Execution of a simple motion (with tooling): `roslaunch sample_applications sample_simple_simulation.launch` - - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI) - - Gazebo window to observe the executed robot motion - - rqt to show log messages -- Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch` - - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI) - - Gazebo window to observe the executed robot motion - - rqt to show log messages -- Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch` - - RViz window to see the plan and trigger the motion (press *next* in the RvizVisualToolGUI) +Please note that all examples must be run in a built catkin workspace from within +a shell with all ROS paths properly set up (i.e., after running `source devel/setup.sh`). + +### Minimal "Hello World" Example + +This example of an execution of a simple motion. + +- Command: `roslaunch sample_applications sample_minimal_simulation.launch` +- Expected results: + - A Gazebo window opens in which the executed robot motion can be observed. + - The motion starts immediately after the the system has loaded. + +### Execution of a Simple Motion with Tooling + +This is the same example as the first one, but this time, additional tooling is loaded. + +- Command: `roslaunch sample_applications sample_simple_simulation.launch` +- Expected results: + - A Gazebo window to observe the executed robot motion opens + - An rqt window to show log messages opens + - An RViz window to see the plan and trigger the motion open. + - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz + + +### Execution of a Simple Motion Costrained by a Blocking Object + +In this example, an object can be observed in the RViz planning window. This object constrains the motion of the robot, such that the robot moves around it. + +- Command: `roslaunch sample_applications sample_constraint_simulation.launch` +- Expected results: + - A Gazebo window to observe the executed robot motion opens + - An rqt window to show log messages opens + - An RViz window to see the plan and trigger the motion open. + - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz + +### Execution of a Velocity Constraint Cartesian Trajectory + +- Command: `roslaunch sample_applications simulation.launch` +- Expected results: + - A Gazebo window to observe the executed robot motion opens + - An rqt window to show log messages opens + - An RViz window to see the plan and trigger the motion open. + - The motion does **not** start automatically, instead it must be triggered by pressing *next* in the RvizVisualToolsGUI within RViz + +### Planning and Simulation based on RViz + +This is an example to use RViz and Gazebo interactively. Motions can be planned and executed from the RViz GUI. + +- Command: `roslaunch panda_simulation simulation.launch` +- Expected results: + - RViz window to control the robot - Gazebo window to observe the executed robot motion - rqt to show log messages + - The robot does not move automatically, but can be controlled with RViz (cf. the [tutorial](http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html)) + + + + -- GitLab