LaunchFiles - PartnerRobotChallengeVirtual/human-navigation-ros GitHub Wiki
In this sample, the robot generates example guidance messages according to received task_info from the moderator.
$ roslaunch human_navigation sample.launch
You can control and move the robot with a keyboard by starting this tool instead of the robot controller.
Basic key commands for controlling the robot are as follows:
| Key | Description | |
|---|---|---|
| Move | Arrow Keys | Move HSR |
| s | Stop HSR | |
| q/z | Increase/Decrease Moving Speed | |
| Move Arm | y | Move Arm Up |
| h | Stop Arm | |
| n | Move Arm Down | |
| a | Rotate Arm - Vertical | |
| b | Rotate Arm - Upward | |
| c | Rotate Arm - Horizontal | |
| d | Rotate Arm - Downward | |
| g | Grasp/Open hand | |
| Message | 9 | Send Message "Give_up" |
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- human_navigation_sample
In this launch, rviz is run in addition to the ROS nodes in sample.launch. You can use this launch file to visualize internal information of the robot.
$ roslaunch human_navigation sample_with_rviz.launch
The launch file include following ROS nodes.
- rosbridge_server
- sigverse_ros_bridge
- human_navigation_sample
- rviz