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

1. Drag the robot in rviz to the target destination.
2. Plan and execute the trajectory.
3. Use a sourced console and save the pose by typing rostopic pub /collectPose std_msgs/String 'collect'.
4. Do this as much as you want to.
5. 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'.