Note: This tutorial assumes that you have completed the previous tutorials: Starting the Manipulation Pipeline on the PR2 robot, Writing a Simple Pick and Place Application.
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The Pick and Place Keyboard Interface

Description: A simple keyboard interface allowing the user to request the execution of pick and place tasks for the PR2. Written in C++.

Tutorial Level: BEGINNER

The keyboard interface is a simple C++ program used to test the pick and place capability.

Robot Setup

Set up the robot the same way as you would for the Writing a Simple Pick and Place Application tutorial.

Starting the Keyboard Interface

use the following command:

roslaunch pr2_pick_and_place_demos pick_and_place_keyboard_interface.launch

Using the Keyboard Interface

Follow the command line prompt to use the keyboard interface.

Note that a set of commands go through the manipulation pipeline. Others, provided as convenience and debug functions, speak directly to the arm navigation, gripper controller or collision environment modules.

For a list of useful rviz markers to be monitored while running the manipulation pipeline see the Troubleshooting page.

Wiki: pr2_pick_and_place_demos/Tutorials/Pick and Place Keyboard Interface (last edited 2010-07-26 21:58:21 by MateiCiocarlie)