Note: This tutorial assumes that you have completed the previous tutorials: Bringing up Care-O-bot.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Running a simple grasp script

Description: This tutorial teaches you how to run a script.

Tutorial Level: BEGINNER

Next Tutorial: Live visualization of a script Preparing a new script (python)

Contents

  1. Software Requirements
  2. Bringing up the robot
  3. Running a simple grasp script

Software Requirements

You will need cob_tutorials. Install it following the instructions on Robots/Care-O-bot/git.

Bringing up the robot

First, bringup either a real Care-O-bot or a simulated one (see cob_bringup_sim). To bringup a simulated Care-O-bot 

export ROBOT=cob3-3
export ROBOT_ENV=ipa-kitchen
roslaunch cob_bringup_sim robot.launch

You should see gazebo starting with a Care-O-bot in the IPA kitchen environment.

Launch the specific launch file for this tutorial, navigation, kdl_solver and parameters 

roslaunch cob_script_server_tutorial script_server_tutorial.launch

Running a simple grasp script

Afterwards we can run a script and watch the robot moving either in the gazebo window or with rviz. 

rosrun cob_script_server_tutorial simple_grasp.py

You should open rviz to localise the robot in order to the robot can reach the correct positions. 

rosrun rviz rviz

Wiki: cob_script_server/Tutorials/Running a simple grasp script (last edited 2012-07-16 09:14:43 by FlorianWeisshardt)

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