OpenRR applications

Preprare

Install urdf-viz

bash cargo install urdf-viz

Install

bash cargo install openrr-apps

If you are Windows user, ROS is not supported. So remove it.

bash cargo install openrr-apps --no-default-features --features gui

Option: For UR10 sample

Install Universal Robot software.

Option: For PR2 sample

Install ros-melodic-pr2-gazebo / ros-melodic-topic-tools.

How to run openrrappsrobot_command

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Run sample commands.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run sample commands with env var

bash export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml openrr_apps_robot_command load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt

Do not forget to unset OPENRRAPPSROBOTCONFIGPATH before try other settings

UR10 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/ur10_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/ur10_cmd_urdf_viz.txt

UR10 (ROS gazebo)

• Launch gazebo.

bash roslaunch ur_gazebo ur10.launch

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/ur10_robot_client_config_for_ros.toml \ load_commands ./openrr-apps/command/ur10_cmd_ros.txt

PR2 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/pr2_robot_client_config_for_urdf_viz.toml \ load_commands ./openrr-apps/command/pr2_cmd_urdf_viz.txt

PR2 (ROS gazebo)

• Launch gazebo.

bash cd openrr-apps/launch/ roslaunch ./pr2.launch wait_time_secs:=10

• Run sample commands.

Change urdf path in the setting file for your environment.

bash openrr_apps_robot_command \ --config-path=./openrr-apps/config/pr2_robot_client_config_for_ros.toml \ load_commands ./openrr-apps/command/pr2_cmd_ros.txt

How to run openrrappsrobot_teleop

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Connect joystick.

Change below joystick settings in the setting file for your device. Default value is for 'Sony DualShock 4'.

TOML gil_gamepad_config.device_id = 0 gil_gamepad_config.map.button_map = ... gil_gamepad_config.map.axis_map = ... gil_gamepad_config.map.axis_value_map = ...

• Run teleop.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/sample_teleop_config_urdf_viz.toml

UR10 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find ur_description)/urdf/ur10_robot.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_urdf_viz.toml

UR10 (ROS gazebo)

• Launch gazebo.

bash roslaunch ur_gazebo ur10.launch

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/ur10_teleop_config_ros.toml

PR2 (urdf-viz)

• Launch urdf-viz.

bash urdf-viz $(rospack find pr2_description)/robots/pr2.urdf.xacro

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_urdf_viz.toml

PR2 (ROS gazebo)

• Launch gazebo.

bash cd openrr-apps/launch/ roslaunch ./pr2.launch wait_time_secs:=10

• Run teleop.

Change urdf path and joystick settings (see here) in the setting file for your environment.

bash openrr_apps_robot_teleop --config-path=./openrr-apps/config/pr2_teleop_config_ros.toml

How to run openrrappsjointpositionsender

Sample robot

• Launch urdf-viz.

bash urdf-viz ./openrr-planner/sample.urdf &

• Launch openrrappsjointpositionsender.

bash openrr_apps_joint_position_sender \ --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml

Environmental Variables

If you set export OPENRR_APPS_ROBOT_CONFIG_PATH=some_path_to_config.toml, you can skip --config-path. If you give --config-path explicitly, the env var is ignored.

• Run for sample urdf with env var

bash export OPENRR_APPS_ROBOT_CONFIG_PATH=$(pwd)/openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml openrr_apps_joint_position_sender

Do not forget to unset OPENRRAPPSROBOTCONFIGPATH before try other settings

Troubleshooting

See openrr-gui crate for troubleshooting.