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crtk-cpp

Build instructions:

  1. Run this first: 
    catkin_make --pkg crtk_msgs
  2. Then run this: 
    catkin_make

Run instructions:

  1. make sure the package is built without error
  2. Load parameters from the robot roslaunch file.
  3. List the parameters: 
    rosparam list
  4. Make sure parameters: num_joints, home_pos, home_quat, home_jpos and grasper_name are all on the list and under the robot namespace.
  5. Run the test with rosrun and a r_space rosparameter specifying the robot namespace. For instance, 
    rosrun crtk_test_servo_jp crtk_test_servo_jp _r_space:=arm1