cartesian_sim_wiki

Simulated robot

Run the following commands:

roscore
roslaunch mbot_simulation robot.launch gazebo_gui:=true

This will bring up the simulation environment and the robot. By default it loads an arm trajectory controller, however for the cartesian controller demo you need to switch to arm velocity controller, you can do this by doing:

rosrun mbot_gazebo_control switch_arm_sim_ctrl velocity

or with the alias switch_arm_sim_ctrl velocity

Connect the 3D space nav mouse to your USB port and launch:

roslaunch mbot_cartesian_controller mbot_cartesian_controller_demo.launch

Done!

Now move the arm of the robot with the space mouse in 3D space

NOTE: By default the space nav publishes velocity commands w.r.t "base_link" reference frame, if you wish to change this (for end effector for example) then you can do:

roslaunch mbot_cartesian_controller mbot_cartesian_controller_demo.launch frame_id:=left_arm_virtual_endeffector

Note that "left_arm_virtual_endeffector" can be replaced by any frame that belongs to the robot tf tree