Open-Door Day

YouBot-Demonstration für den Tag der offenen Tür

ROS-Master starten

roscore

Youbot Treiber

roslaunch youbot_driver_ros_interface youbot_driver.launch

Fernsteuer-App

rosrun youbot_driver_ros_interface youbot_keyboard_teleop.py

Beispiel-Befehle

Arm

Ausfahren:

rostopic pub /arm_1/arm_controller/position_command brics_actuator/JointPositions '{positions:[ {joint_uri: arm_joint_1, unit: rad, value: 2.95}, {joint_uri: arm_joint_2, unit: rad, value: 1.05}, {joint_uri: arm_joint_3, unit: rad, value: -2.44}, {joint_uri: arm_joint_4, unit: rad, value: 1.73}, {joint_uri: arm_joint_5, unit: rad, value: 2.95}]}'

Einfahren:

rostopic pub /arm_1/arm_controller/position_command brics_actuator/JointPositions '{positions:[ {joint_uri: arm_joint_1, unit: rad, value: 0.11}, {joint_uri: arm_joint_2, unit: rad, value: 0.11}, {joint_uri: arm_joint_3, unit: rad, value: -0.11}, {joint_uri: arm_joint_4, unit: rad, value: 0.11}, {joint_uri: arm_joint_5, unit: rad, value: 0.111}]}'

Gripper:

Loslassen

rostopic pub /arm_1/gripper_controller/position_command brics_actuator/JointPositions '{positions:[ {joint_uri: gripper_finger_joint_l, unit: m, value: 0.0115}, {joint_uri: gripper_finger_joint_r, unit: m, value: 0.0115}]}'

Greifen

rostopic pub /arm_1/gripper_controller/position_command brics_actuator/JointPositions '{positions:[ {joint_uri: gripper_finger_joint_l, unit: m, value: 0}, {joint_uri: gripper_finger_joint_r, unit: m, value: 0}]}'