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: 2 months 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 (almost 5 years ago)
- Default Branch: master
- Last Pushed: 2025-02-24T16:22:03.000Z (5 months ago)
- Last Synced: 2025-03-31T02:06:15.140Z (3 months ago)
- Language: Python
- Homepage:
- Size: 3.13 MB
- Stars: 7
- Watchers: 9
- Forks: 1
- Open Issues: 9
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
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