2 releases

0.0.3 Feb 19, 2021
0.0.1 Feb 10, 2021

#37 in Robotics


Used in openrr

Apache-2.0

220KB
5K SLoC

OpenRR applications

Preprare

Install urdf-viz

cargo install urdf-viz

Build

  • Without ROS
cargo build --release
  • With ROS
cd openrr-apps
cargo build --release --features ros
  • Without GUI
cd openrr-apps
cargo build --release --no-default-features

For UR10 sample

Install Universal Robot software.

For PR2 sample

Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.

How to run openrr_apps_robot_command

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf
  • Run sample commands.
./target/release/openrr_apps_robot_command \
  --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
  load_commands \
  ./openrr-apps/config/sample_cmd_urdf_viz.txt

UR10 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
  • Run sample commands.

Change urdf path in the setting file for your environment.

./target/release/openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \
  load_commands \
  ./openrr-apps/config/ur10_cmd_urdf_viz.txt

UR10 (ROS gazebo)

  • Launch gazebo.
roslaunch ur_gazebo ur10.launch
  • Run sample commands.

Change urdf path in the setting file for your environment.

./target/release/openrr_apps_robot_command \
  --config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \
  load_commands \
  ./openrr-apps/config/ur10_cmd_ros.txt

PR2 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
  • Run sample commands.

Change urdf path in the setting file for your environment.

./target/release/openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \
  load_commands \
  ./openrr-apps/config/pr2_cmd_urdf_viz.txt

PR2 (ROS gazebo)

  • Launch gazebo.
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
  • Run sample commands.

Change urdf path in the setting file for your environment.

./target/release/openrr_apps_robot_command \
  --config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \
  load_commands \
  ./openrr-apps/config/pr2_cmd_ros.txt

How to run openrr_apps_robot_teleop

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf

Change below joystick settings in the setting file for your device. Default value is for 'Sony DualShock 4'.

gil_gamepad_config.device_id = 0
gil_gamepad_config.map.button_map = ...
gil_gamepad_config.map.axis_map = ...
gil_gamepad_config.map.axis_value_map = ...
  • Run teleop.
./target/release/openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml

UR10 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

./target/release/openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml \

UR10 (ROS gazebo)

  • Launch gazebo.
roslaunch ur_gazebo ur10.launch
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

./target/release/openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/ur10_teleop_config_ros.toml \

PR2 (urdf-viz)

  • Launch urdf-viz.
urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

./target/release/openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml \

PR2 (ROS gazebo)

  • Launch gazebo.
cd openrr-apps/launch/
roslaunch ./pr2.launch wait_time_secs:=10
  • Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

./target/release/openrr_apps_robot_teleop \
  --config-path=./openrr-apps/config/pr2_teleop_config_ros.toml \

How to run openrr_apps_joint_position_sender

Sample robot

  • Launch urdf-viz.
urdf-viz ./openrr-planner/sample.urdf
  • Launch openrr_apps_joint_position_sender.
./target/release/openrr_apps_joint_position_sender \
  ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

Troubleshooting

See openrr-gui crate for troubleshooting.

Dependencies

~30MB
~614K SLoC