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Running the Action Client

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 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 wiki for more details on rosparams