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COMS 6998-03 HUMANOID ROBOTS, SPRING 2015

Columbia University

setting up the environment

workspace

git clone or copy and paste 'humanoids_robots' on /home

catkin_make

testing the xamples

bring up Gazebo

roslaunch pr2_gazebo pr2_empty_world.launch

if testing the move_arm code, bring up moveit

roslaunch pr2_moveit_config move_group.launch

compile, source and run code

source devel/setup.bash

rosrun humanoids_robots

As for the for the homework:

bring up Gazebo, table and coke

roslaunch humanoids_robots pr2_gazebo_tablewithobject.launch

then you will have to work on your own code.

  • you will have to create a new package "hw1" and a new launch file "everything.launch"
  • your launch file may include above launch file and your(s) node(s)
  • We will execute roslaunch hw1 everything.launch

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