aero-ros-pkg

Pre-requirement

Install ROS

sudo apt-get install ros-indigo-desktop-full
sudo apt-get install ros-indigo-pr2-controller-msgs ros-indigo-move-base-msgs
sudo apt-get install ros-indigo-map-server ros-indigo-amcl ros-indigo-move-base ros-indigo-eband-local-planner
sudo apt-get install ros-indigo-moveit
sudo apt-get install ros-indigo-moveit-ros-planning-interface ros-indigo-moveit-ros-planning ros-indigo-moveit-core ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-warehouse ros-indigo-moveit-kinematics

Setup catkin workspace

sudo apt-get install python-wstool python-catkin-tools
mkdir -p ~/ros/indigo
cd ~/ros/indigo
wstool init src
catkin init
catkin build
source ~/ros/indigo/devel/setup.bash

Install

Clone repository

cd ~/ros/indigo/src
wstool set aero-ros-pkg https://github.com/seed-solutions/aero-ros-pkg.git --git
wstool up aero-ros-pkg

Build packge

Build aero_description

cd aero-ros-pkg
catkin build aero_description
soure ~/.bashrc

Setup aero_startup

In the initial stage, aero_startup is not ros package, it has no CMakeLists.txt. CMakeLists.txt and some controller modules are generated by aero_description/setup.sh. setup.sh requires robot directory as an argument e.g. setup.sh typeF.

roscd aero_description
./setup.sh typeF  # including catkin build aero_startup
source ~/.bashrc

If you need clean up aero_startup, please use aero_description/clean.sh.

Control AERO

Setup udev

T.B.D.

Run controllers

roslaunch aero_startup aero_bringup.launch

View Robot Model

rosrun rviz rviz

then add RobotModel, change Robot Description to aero_description.

Samples

Build Samples

catkin build aero_samples

Run Minimum Sample

rosrun aero_samples minimum_sample_node

Control from Command Line

Move Joint

rostopic pub /aero_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'r_wrist_y_joint'
points:
- positions: [0.5]
  velocities: [0]
  accelerations: [0]
  effort: [0]
  time_from_start: {secs: 1, nsecs: 0}"

Move Torso

rosservice call /aero_torso_controller  "x: 0.0
z: -200.0
coordinate: 'world:2000'"

Writing Codes

see aero_samples and aero_std documentation