<<PackageHeader(srs_arm_navigation_tests)>>
<<TOC(4)>>


== Overview ==

This package contains scripts and launch files for testing SRS assisted arm navigation pipeline. There is fake decision making which can be used instead of [[srs_decision_making|srs_decision_making]] for testing. Package also contains copy of assisted arm navigation generic states.


== Installation ==

 * install [[srs_assisted_arm_navigation]], [[srs_assisted_arm_navigation_ui]] and [[srs_assisted_grasping]]
 * build srs_arm_navigation_tests with
{{{
rosmake srs_arm_navigation_tests
}}}


== Configuration ==

TBD

== Usage ==

File arm_manip_generic_states.py implements two smach generic states which can be used as part of state machine:

 * move_arm_to_given_positions_assisted
  * for user assisted trajectory planning i.e. for move the arm to the pre-grasp position
 * move_arm_from_a_given_position_assisted
  * for user assisted navigation to a safe position

 * launch needed stuff:

{{{
roslaunch srs_arm_navigation_tests fake_dm_test.launch
}}}

 * spawn milk:

{{{
roslaunch srs_arm_navigation_tests milk_box.launch
}}}

 * run the fake decision making

{{{
roslaunch srs_arm_navigation_tests fake_dm_only.launch
}}}

 * It will test both generic states in this order:
  * move_arm_to_given_positions_assisted
  * move_arm_from_a_given_position_assisted
 * Fake_dm will try to use [[srs_grasping|srs_grasping]] services to obtain pregrasp position. If it's not possible fake ones will be used (just to test visualization).

== Tutorials ==

 * [[srs_arm_navigation_tests/Tutorials/Usage of assisted arm navigation|Usage of assisted arm navigation]]

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