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

• Connect joystick.

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.