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jaguar:base-control [2020/05/06 12:53] a18mitri [How to use] |
jaguar:base-control [2020/05/06 12:54] a18mitri [Requirements] |
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| Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | Ubuntu 16.04 (Ubuntu 18/20.04 may pose problems with connection to the robot) | ||
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| ROS Kinetic | ROS Kinetic | ||
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| Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | Packages: drrobot_5dofmanipulator_ctrl, drrobot_jaguar_v6 (https://partage.imt.fr/apps/files/?dir=/Shared/Jaguar_packages&fileid=181131485) | ||
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| Turn the main switch to "ON" position. | Turn the main switch to "ON" position. | ||
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| Press and hold the start button for about 1 second, then release. | Press and hold the start button for about 1 second, then release. | ||
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| To power off the robot, turn the main switch to "OFF" position, the system will shut down. | To power off the robot, turn the main switch to "OFF" position, the system will shut down. | ||
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| After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | After turn on the robot, please make sure your PC could find the WiFi network with SSID “DriJaguar”, and | ||
| connect with this network with key “drrobotdrrobot”. | connect with this network with key “drrobotdrrobot”. | ||
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| After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | After successful connection, please fix your PC IP address as “192.168.0.104” at this wireless interface. | ||
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| Launch roscore. | Launch roscore. | ||
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| Launch base control node: | Launch base control node: | ||
| rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | rosrun drrobot_jaguar_v6_node drrobot_jaguar_v6_node | ||
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| Launch arm control node: | Launch arm control node: | ||
| rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | rosrun drrobot_5dofmanipulator_ctrl drrobot_5dofmanipulator_ctrl_node | ||