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LaunchFiles
Hiroki Yamada edited this page Apr 19, 2018
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In the sample program the HSR grasps the space on the right regardless of the task.
After that the robot moves to the back, opens the gripper, and the task ends.
$ roslaunch interactive_cleanup sample.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- interactive_cleanup_sample
You can change port numbers by modifying the launch file.
Participants can control and move the robot with a keyboard by starting this tool instead of the robot controller.
$ roslaunch interactive_cleanup teleop_key.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_interactive_cleanup
You can change port numbers by modifying the launch file.
Refer to the console message for the operation.
Start teleop_key_with_rviz.launch to boot other programs such as rviz simultaneously.
$ roslaunch interactive_cleanup teleop_key_with_rviz.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- teleop_key_interactive_cleanup
- rviz
You can change port numbers by modifying the launch file.