ChingHengWang
commented
8 years ago roslaunch andbot andbot.launch or andbot_ekf.launch (ther arm arm.launch file in this two launches)
rosrun andbot_test_joint teleop_home 0 0.1 left arm 0 Axis & 1 Axis (speed = 0.1rad/s)
Pres '↑' and '↓'to control the 0 Axix forward and backward, and move this Axis to 'mechanical origin point' Pres '←' and '→'to control the 1 Axix left and right, and move this Axis to 'mechanical origin point' press 'P' to pause the mvoement rosrun andbot_test_joint teleop_home 1 0.1 left arm 2 Axis & 3 Axis (speed = 0.1rad/s)
Pres '↑' and '↓'to control the 3 Axix forward and backward, and move this Axis to 'mechanical origin point' Pres '←' and '→'to control the 2 Axix left and right, and move this Axis to 'mechanical origin point' press 'P' to pause the mvoement rosrun andbot_test_joint teleop_home 2 0.1 right arm 0 Axis & 1 Axis (speed = 0.1rad/s)
Pres '↑' and '↓'to control the 0 Axix forward and backward, and move this Axis to 'mechanical origin point' Pres '←' and '→'to control the 1 Axix left and right, and move this Axis to 'mechanical origin point' press 'P' to pause the mvoement rosrun andbot_test_joint teleop_home 3 0.1 right arm 2 Axis & 3 Axis (speed = 0.1rad/s)
Pres '↑' and '↓'to control the 3 Axix forward and backward, and move this Axis to 'mechanical origin point' Pres '←' and '→'to control the 2 Axix left and right, and move this Axis to 'mechanical origin point' press 'P' to pause the mvoement Finally press 'Ctrl+C' to kill this node
git clone andbot_test_joint https://github.com/ChingHengWang/andbot_test_joint commit: 0463e8d93383c6bcb507c86aaf601f5d5e5983fb
roslaunch andbot andbot.launch or andbot_ekf.launch (裡面啟動arm.launch)
rosrun andbot_test_joint teleop_home 0 0.1 左手0軸&1軸 (speed = 0.1rad/s) 前後鍵控制第0軸 前後搖擺 移動至機械原點 左右鍵控制第1軸 左右搖擺 移動至機械原點 rosrun andbot_test_joint teleop_home 1 0.1 左手2軸&3軸 (speed = 0.1rad/s) 前後鍵控制第3軸 前後搖擺 移動至機械原點 左右鍵控制第2軸 左右搖擺 移動至機械原點 rosrun andbot_test_joint teleop_home 2 0.1 右手0軸&1軸 (speed = 0.1rad/s) 前後鍵控制第0軸 前後搖擺 移動至機械原點 左右鍵控制第1軸 左右搖擺 移動至機械原點 rosrun andbot_test_joint teleop_home 3 0.1 右手2軸&3軸 (speed = 0.1rad/s) 前後鍵控制第3軸 前後搖擺 移動至機械原點 左右鍵控制第2軸 左右搖擺 移動至機械原點
結束後 Ctrl+C kill這個node