Launch Files

sample.launch

In the sample program the HSR grasps the space on the right regardless of the task.
Therefore, the attempt on that task immediately ends if the robot enters the wrong room.
The task fails of course because the robot cannot grasp the object correctly.

$ roslaunch handyman sample.launch

ROS Node List

The launch file include following ROS nodes.

• rosbridge_server
• sigverse_ros_bridge
• handyman_sample

You can change port numbers by modifying the launch file.

teleop_key.launch

Participants can control and move the robot with a keyboard by starting this tool instead of the robot controller.

$ roslaunch handyman teleop_key.launch

ROS Node List

The launch file include following ROS nodes.

• rosbridge_server
• sigverse_ros_bridge
• teleop_key_handyman

You can change port numbers by modifying the launch file.

How to Operate

Refer to the console message for the operation.

teleop_key_with_rviz.launch

Start teleop_key_with_rviz.launch to boot other programs such as rviz simultaneously.

$ roslaunch handyman teleop_key_with_rviz.launch

ROS Node List

The launch file include following ROS nodes.

• rosbridge_server
• sigverse_ros_bridge
• teleop_key_handyman
• rviz

You can change port numbers by modifying the launch file.