## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" [[opencupboard/Tutorials/Writing the Action Client]] ## note.0= [[opencupboard/Tutorials/Writing the Action Client|Writing the Action Client]] ## descriptive title for the tutorial ## title = Running the Action Client ## multi-line description to be displayed in search ## description = Shows how to run opencupboard_action ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link= ## next.1.link= ## what level user is this tutorial for ## level= BeginnerCategory ## keywords = #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> <<TableOfContents(4)>> == Setting the Parameters == There are several parameters detailing the specifics of the cabinet that you are trying to open which should be set. You can either do this by creating a YAML file or setting the parameters individually in the command line. === Creating a YAML === Navigate to the tutorial package you created in [[opencupboard/Tutorials/Writing the Action Client|Writing the Action Client]] {{{ roscd opencupboard_tutorial }}} Within that package, create the yaml/cabinet.yaml file and paste the following inside it: {{{ door_width: # {float} which_arm: # {"right_arm","left_arm"} handle_pos: # {"left","top","right","bot"} adjust_head: # {[float,float,float]} }}} * door_width: measures the width of the door from the hinges to the handle, in meters. * which_arm: indicates which arm you want to use to open the door * handle_pos: indicates where on the door the handle is * adjust_head: gives an x,y,z coordinate for the head to look at so it can see the door, given that its in a position where its arm is able to open the door Optional additional parameters include {{{ max_x: # {float} min_x: # {float} max_y: # {float} min_y: # {float} max_z: # {float} min_z: # {float} handle_orientation: # {"horizontal","vertical"} handle_z: # {float} }}} * max_x, min_x, max_y, min_y, max_z, min_z: indicates an area where the handle is located, should not be too strict * handle_orientation: indicates whether the handle is vertical or horizontal relative to the floor * handle_z: indicates the approximate height of the handle relative to the floor === Using Command Line === Four params must be set: door_width, which_arm, handle_pos, adjust_head. You can set those on the command line {{{ rosparam set parameter_name value }}} See [[rosparam|rosparam wiki]] for more details on rosparams ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE