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hardware:rb1_quickstart [2021/02/12 13:51] cedric.lb [From a remote computer] |
hardware:rb1_quickstart [2021/02/12 13:56] cedric.lb [From a remote computer] |
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| ==== From a remote computer ==== | ==== From a remote computer ==== | ||
| - | The rb1 can also be controlled remotely from a computer. First, connect to the robot's Wifi, open a terminaml and type: | + | The rb1 can also be controlled remotely from a computer. First, connect to the robot's Wifi, open a terminal and type: |
| user@remote:~$ export ROS_MASTER_URI=http://rb1:11311 | user@remote:~$ export ROS_MASTER_URI=http://rb1:11311 | ||
| Line 95: | Line 95: | ||
| user@remote:~$ scp -r rb1@rb1:~/catkin_ws/src/* ~/catkin_rb1_ws/src/ | user@remote:~$ scp -r rb1@rb1:~/catkin_ws/src/* ~/catkin_rb1_ws/src/ | ||
| user@remote:~$ cd ~/catkin_rb1_ws | user@remote:~$ cd ~/catkin_rb1_ws | ||
| - | user@remote:~/catkin_rb1_ws/$ catkin_make | + | user@remote:~/catkin_rb1_ws$ catkin_make |
| Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue. | Some robot-specific packages may fail compiling (missing dynamixel.h / libpcan.h). If those are the only errors, you may continue. | ||
| Rviz and move it can now be started to control the robot: | Rviz and move it can now be started to control the robot: | ||
| - | + | ||
| - | user@remote:~/catkin_rb1_ws/$ source devel/setup.bash | + | user@remote:~/catkin_rb1_ws$ source devel/setup.bash |
| - | user@remote:~/catkin_rb1_ws/$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch | + | user@remote:~/catkin_rb1_ws$ roslaunch rb1_jaco_3fg_moveit_config demo_rtc.launch |
| ===== Controlling the kinova-arm only ===== | ===== Controlling the kinova-arm only ===== | ||
| Line 110: | Line 110: | ||
| user@remote:~$ mkdir -p ~/catkin_kinova/src | user@remote:~$ mkdir -p ~/catkin_kinova/src | ||
| user@remote:~$ cd catkin_kinova/src | user@remote:~$ cd catkin_kinova/src | ||
| - | user@remote:~$ git clone https://github.com/Kinovarobotics/kinova-ros | + | user@remote:~/catkin_kinova/src$ git clone https://github.com/Kinovarobotics/kinova-ros |
| - | user@remote:~$ catkin_make | + | user@remote:~/catkin_kinova/src$ catkin_make |
| Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable. | Next, it is first necessary to connect the computer to the arm via USB. This requires an USB-A to USB-B cable. | ||
| Line 120: | Line 120: | ||
| user@remote:~$ cd ~/catkin_kinova | user@remote:~$ cd ~/catkin_kinova | ||
| - | user@remote:~$ source devel/setup.bash | + | user@remote:~/catkin_kinova$ source devel/setup.bash |
| - | user@remote:~$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300 | + | user@remote:~/catkin_kinova$ roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300 |
| This will start rviz and moveit and allow control of the arm. | This will start rviz and moveit and allow control of the arm. | ||
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| and "Action client not connected: rt_traj_exe/follow_joint_trajectory"** | and "Action client not connected: rt_traj_exe/follow_joint_trajectory"** | ||
| - | First, check whether the rt_traj_exe/follow_joiny_tractoryis visible on the computer. | + | First, check whether the rt_traj_exe/follow_joiny_tractory is visible on the computer. |
| user@remote:~$ rostopic list | user@remote:~$ rostopic list | ||