robot-programming

This is exercise for robot-programming.

Setup

$ source /opt/ros/noetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/jsk-enshu/robot-programming
$ wstool init .
$ wstool merge robot-programming/.rosinstall.${ROS_DISTRO}
$ wstool update
$ rosdep update
$ cd ..
$ rosdep install --from-paths src --ignore-src -y -r
# You will get a warning because some packages (turtlebot_bringup, turtlebot_dashboard, turtlebot_rapps, and kobuki_capabilities) have not resolved the rosdep key, but you can ignore it.
$ catkin build
# $ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc ## You may source the setup.bash by this line if you understand the difference between > and >>.

Turtlebot simulation

Start simulator

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch dxl_armed_turtlebot dxl_armed_turtlebot_gazebo.launch

Start RQT GUI

$ roscd dxl_armed_turtlebot/launch

$ rqt --perspective-file enshu.perspective

Start Color Tracking node

$ roslaunch opencv_apps camshift.launch image:=/camera/rgb/image_raw
$ rosrun image_view2 image_view2 image:=/camera/rgb/image_raw ~image_transport:=compressed

Start Checkerboard Tracking Tracking node

$ roslaunch roseus_tutorials checkerboard-detector.launch rect0_size_x:=0.02 rect0_size_y:=0.02 \
      grid0_size_x:=7 grid0_size_y:=4 translation0:="0 0 0" \
      image:=image_raw  group:=/camera/rgb frame_id:=camera_rgb_optical_frame
$ ROS_NAMESPACE=/camera/rgb rosrun checkerboard_detector objectdetection_tf_publisher.py \
       _use_simple_tf:=true

cart_humanoid (JAXON) simulation

Start simulator

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch cart_humanoid cart_humanoid_gazebo.launch
# It may take a few minutes to start the simulator for the first time.
# If you launch simulators with the robot's base link unfixed, use the following command instead.
$ roslaunch cart_humanoid cart_humanoid_gazebo.launch fix_base_link:=false

Start RQT GUI

$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

Documentations

See online manual for Euslisp models and interfaces.

PDF files are also available from here