https://github.com/um-arm-lab/arm_robots

Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
https://github.com/um-arm-lab/arm_robots

Last synced: 4 days ago
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Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.

• Host: GitHub
• URL: https://github.com/um-arm-lab/arm_robots
• Owner: UM-ARM-Lab
• Created: 2020-09-15T06:00:54.000Z (about 4 years ago)
• Default Branch: master
• Last Pushed: 2024-08-28T02:47:35.000Z (3 months ago)
• Last Synced: 2024-08-28T03:52:04.276Z (3 months ago)
• Language: Python
• Homepage:
• Size: 3.09 MB
• Stars: 6
• Watchers: 10
• Forks: 1
• Open Issues: 9
• Metadata Files:
  • Readme: README.md

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README

        
See `scripts/basic_motion.py` for example usage. In order to test this, you'll need simulated or real victor

## Setup / Install

See the `arm_robots.rosinstall` for what source packages you need to clone. You can also use the rosinstall directly. If you already have a `.rosinstall` file, use `wstool merge arm_robots/arm_robots.rosinstall`, followed by `wstool update`. If you don't have a `.rosinstall` file, just download this one, put it in the `src` directory of your catkin ws, and run `wstool update`. This will clone and/or pull all the packages you need.

To get the dependencies, you can try `rosdep install -r --from-paths arm_robots`.

Apt dependencies:

`sudo apt install ros-noetic-pybind11-catkin ros-noetic-joint-trajectory-controller`

## Simulation

    roslaunch arm_robots victor.launch sim:=true

## Real Victor

Follow the [setup instructions](https://github.com/UM-ARM-Lab/documentation/wiki/Victor#quick-start)

    roslaunch arm_robots victor.launch

    rosrun arm_robots victor_basic_motion.py

    

## Here's what it should look like

https://drive.google.com/file/d/1-R0NOalh0yAsff310mjcobYLGQLQ7oJZ/view?usp=sharing

## Troubleshooting

- Verify Gazebo is unpaused