|
sns_ik_examples package from sns-ik reposns_ik sns_ik_examples sns_ik_lib |
Package Summary
| Tags | No category tags. |
| Version | 0.2.3 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/RethinkRobotics-opensource/sns_ik.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2018-12-03 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
Package Description
Additional Links
Maintainers
- Rethink Robotics Inc.
Authors
- Fabrizio Flacco
- Ian McMahon
- Forrest Rogers-Marcovitz
README: sns_ik_examples
This directory contains scripts that run some tests of the SNS-IK library using the Sawyer and Baxter robot models.
Tutorial: how to run these scripts
First you need to setup your catkin workspace. If you are unfamiliar with this process then you should refer to the ROS tutorial page: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Once you set up the catkin workspace it should look something like:
ros_ws/
- src/
- sns_ik/
- baxter_robot/
- sawyer_robot/
The sns_ik/ directory contains this repository, cloned from:
https://github.com/RethinkRobotics-opensource/sns_ik.
The baxter_robot/ director contains the open-source model of the Baxter robot, cloned from:
https://github.com/RethinkRobotics/baxter_common.git.
The sawyer_robot/ directory contains the open-source model of the Sawyer robot, cloned from:
https://github.com/RethinkRobotics/sawyer_robot.
Once the directory structure is in place you will need to setup the catkin workspace. The commands will look something like this:
$ cd ros_ws
$ source /opt/ros/indigo/setup.sh
$ catkin_make
$ source devel/setup.bash
Now you can run the test scripts:
$ roslaunch sns_ik_examples test_baxter.launch
$ roslaunch sns_ik_examples test_sawyer.launch
Test architecture and parameters:
The file test_ik_solvers.launch is the generic launch file and is called by
both of the test scripts above. The launch file then passes a set of arguments
into the all_ik_tests executable. The source code for all_ik_tests is in
src/ik_tests.cpp. You can read more about ROS launch scripts here:
http://wiki.ros.org/roslaunch/XML.
How can I run the test on a different robot?
One way to do this would be to create a test_yourNewRobot.launch file that is
similar to either the Sawyer or Baxter test scripts that are in this package.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| sns_ik | github-RethinkRobotics-opensource-sns_ik |
Launch files
- launch/test_sawyer.launch
- Requires the catkin packages intera_common and sawyer_robot
-
- urdf_param [default: /robot_description]
- load_robot_description [default: true]
- launch/test_ik_solvers.launch
-
- num_samples_pos [default: 1000]
- num_samples_vel [default: 1000]
- chain_start [default: base]
- chain_end [default: right_hand]
- timeout [default: 0.005]
- loop_period [default: 0.005]
- urdf_param [default: /robot_description]
- use_random_position_seed [default: false]
- use_delta_position_seed [default: false]
- delta_position_seed_value [default: 0.2]
- use_nullspace_bias_task [default: false]
- nullspace_gain [default: 0.3]
- nominal_nullspace [default: false]
- delta_nullspace [default: true]
- delta_nullspace_value [default: 0.2]
- launch/test_baxter.launch
- Requires the catkin package baxter_common
-
- urdf_param [default: /robot_description]
- load_robot_description [default: true]
Messages
Services
Plugins
Recent questions tagged sns_ik_examples at answers.ros.org
|
|
sns_ik_examples package from sns-ik reposns_ik sns_ik_examples sns_ik_lib |
Package Summary
| Tags | No category tags. |
| Version | 0.2.3 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/RethinkRobotics-opensource/sns_ik.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2018-09-12 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
Package Description
Additional Links
Maintainers
- Rethink Robotics Inc.
Authors
- Fabrizio Flacco
- Ian McMahon
- Forrest Rogers-Marcovitz
README: sns_ik_examples
This directory contains scripts that run some tests of the SNS-IK library using the Sawyer and Baxter robot models.
Tutorial: how to run these scripts
First you need to setup your catkin workspace. If you are unfamiliar with this process then you should refer to the ROS tutorial page: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Once you set up the catkin workspace it should look something like:
ros_ws/
- src/
- sns_ik/
- baxter_robot/
- sawyer_robot/
The sns_ik/ directory contains this repository, cloned from:
https://github.com/RethinkRobotics-opensource/sns_ik.
The baxter_robot/ director contains the open-source model of the Baxter robot, cloned from:
https://github.com/RethinkRobotics/baxter_common.git.
The sawyer_robot/ directory contains the open-source model of the Sawyer robot, cloned from:
https://github.com/RethinkRobotics/sawyer_robot.
Once the directory structure is in place you will need to setup the catkin workspace. The commands will look something like this:
$ cd ros_ws
$ source /opt/ros/indigo/setup.sh
$ catkin_make
$ source devel/setup.bash
Now you can run the test scripts:
$ roslaunch sns_ik_examples test_baxter.launch
$ roslaunch sns_ik_examples test_sawyer.launch
Test architecture and parameters:
The file test_ik_solvers.launch is the generic launch file and is called by
both of the test scripts above. The launch file then passes a set of arguments
into the all_ik_tests executable. The source code for all_ik_tests is in
src/ik_tests.cpp. You can read more about ROS launch scripts here:
http://wiki.ros.org/roslaunch/XML.
How can I run the test on a different robot?
One way to do this would be to create a test_yourNewRobot.launch file that is
similar to either the Sawyer or Baxter test scripts that are in this package.
Could not convert RST to MD: No such file or directory - pandoc
Wiki Tutorials
Source Tutorials
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| sns_ik | github-RethinkRobotics-opensource-sns_ik |
Launch files
- launch/test_sawyer.launch
- Requires the catkin packages intera_common and sawyer_robot
-
- urdf_param [default: /robot_description]
- load_robot_description [default: true]
- launch/test_ik_solvers.launch
-
- num_samples_pos [default: 1000]
- num_samples_vel [default: 1000]
- chain_start [default: base]
- chain_end [default: right_hand]
- timeout [default: 0.005]
- loop_period [default: 0.005]
- urdf_param [default: /robot_description]
- use_random_position_seed [default: false]
- use_delta_position_seed [default: false]
- delta_position_seed_value [default: 0.2]
- use_nullspace_bias_task [default: false]
- nullspace_gain [default: 0.3]
- nominal_nullspace [default: false]
- delta_nullspace [default: true]
- delta_nullspace_value [default: 0.2]
- launch/test_baxter.launch
- Requires the catkin package baxter_common
-
- urdf_param [default: /robot_description]
- load_robot_description [default: true]