commands - irvs/ros_tms GitHub Wiki
Commands
run roscore
roscore
run db manager nodes
roslaunch tms_db_manager tms_db_manager.launch --screen
rosrun tms_db_manager tms_db_writer.py
rosrun tms_db_manager tms_db_reader.py
rosrun tms_db_manager tms_db_publisher.py
rosrun tms_db_manager tms_db_backuper.py
View the B-Sen room in RViz (moveit)
roslaunch rostms_bringup rostms_with_moveit.launch
or
roslaunch rostms_bringup rostms.launch
roslaunch rostms_bringup moveit.launch
View the B-Sen room in RViz
roslaunch rostms_description all_components.launch --screen
roslaunch rostms_description environments.launch --screen
roslaunch rostms_description objects.launch --screen
roslaunch rostms_description robots.launch --screen
rosrun tms_db_state_publisher tms_db_state_publisher
or
rosrun joint_state_publisher joint_state_publisher _use_gui:=true
View the 928 room
roslaunch rostms_description environments_928.launch
Use the Voronoi map
roslaunch tms_rp_voronoi_map voronoi.launch --screen
or
rosrun tms_rp_voronoi_map tms_rp_voronoi_map
rosrun tms_rp_path_planning tms_rp_path_planning
rosservice call /rps_voronoi_path_planning "robot_id: 2003
start_pos: {x: 2.0, y: 4.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}
goal_pos: {x: 8.0, y: 2.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}"
TS
roslaunch tms_ts_ts task_scheduler.launch --screen
or
rosrun tms_ts_ts ts_master
rosrun tms_ts_subtask tms_ts_subtask
rosrun smach_viewer smach_viewer.py
RC
rosrun tms_rc_smartpal_virtual_control smartpal_virtual_control
Example
rosservice call /tms_ts_master "{rostime: 0, task_id: 8005, robot_id: 2003, object_id: 6015, user_id: 0, place_id: 0, priority: 0}"
- 6005 Kitchen
- 6015 sofa
- 6017 bed
- 6019 shelf
XACRO to URDF
roscd smartpal5_description/urdf
#rosrun xacro xacro.py smartpal5.urdf.xacro > smartpal5.urdf
rosrun xacro xacro --inorder smartpal5.urdf.xacro > smartpal5.urdf
check_urdf smartpal5.urdf | less
urdf_to_graphiz smartpal5.urdf
MoveIt
roslaunch moveit_setup_assistant setup_assistant.launch
roslaunch smartpal5_moveit_config demo.launch
rosrun moveit_commander moveit_commander_cmdline.py
rosrun smartpal5_arm_navigation moveit_fk_demo.py
rosrun smartpal5_arm_navigation moveit_ik_demo.py
rosrun smartpal5_arm_navigation moveit_constraints_demo.py
rosrun smartpal5_arm_navigation moveit_obstacles_demo.py
rosrun smartpal5_arm_navigation moveit_pick_and_place_demo.py
roslaunch rostms_moveit_config demo_for_rostms.launch
rosrun smartpal5_arm_navigation moveit_fk_demo.py
rosrun smartpal5_arm_navigation moveit_ik_demo_in_changed_pose.py
View the B-Sen room in Gazebo
roslaunch rostms_gazebo all_components.launch
rosrun smartpal5_gazebo demo.py
View the SmartPal5 in Gazebo
roslaunch smartpal5_gazebo smartpal_gazebo.launch
View the SmartPal V model
roslaunch smartpal5_description smartpal5_visualization.launch
roslaunch environment_description environment.launch
rosrun tms_rp_voronoi_map tms_rp_voronoi_map
rosrun tms_rp_path_planning tms_rp_path_planning
rosservice call /rps_voronoi_path_planning "robot_id: 2003
start_pos: {x: 2000.0, y: 4000.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}
goal_pos: {x: 8000.0, y: 2000.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}"
Prepare to run task
roscore
roslaunch tms_db_manager tms_db_manager.launch
rosrun tms_ss_vicon vicon_stream
roslaunch rostms_bringup rostms_with_moveit.launch
roslaunch tms_rp_voronoi_map voronoi.launch
roslaunch tms_ts_ts task_scheduler.launch
(smartpalV Simulation)
rosrun tms_rc_smartpal_virtual_control smartpal_virtual_control
roslaunch smartpal5_arm_navigation subtask.launch
(smartpalV Real)
rosrun tms_rc_smartpal_control smartpal_control
roslaunch smartpal5_arm_navigation subtask.launch
Run task
send command from Andloid application "tms_ur_commander"
or
rosservice call /tms_ts_master "{rostime: 0, task_id: 8001, robot_id: 2003, object_id: 7004, user_id: 1002, place_id: 0, priority: 0}"
default value
refrigerator:(7.2,5.65,0.73)
kitchen:(9.3,5.6,0.82)