Project name is just random, helpful with package organization.
More documentation can be found in cme_docs.
mkdir -p ~/cme_ws/src
cd ~/cme_ws/src
git clone git+ssh://[email protected]/MyNameIsCosmo/kkim_cme.git
bash kkim_cme/bootstrap_ws.sh
Simulate the world in Gazebo, with door control.
roslaunch cme_launch test_world.launch
./test_doors.sh
rosservice call /world/door_1/open
rosservice call /world/door_1/close
Simulate the world and a Jackal robot with Gazebo.
Launches Gazebo, RVIZ, the CME world, a robot, and door control.
roslaunch cme_launch full.launch robot:=jackal manipulator:=
Simulate the world and a Husky robot with Gazebo.
Launches Gazebo, RVIZ, the CME world, a robot, and door control.
roslaunch cme_launch full.launch robot:=husky manipulator:=
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Simulate the world and a robot with Gazebo.
Launches Gazebo, RVIZ, the CME world, a robot, and door control.
!!! IMPORTANT !!!
The pilz
manipulator is broken in the Gazebo simulation, use the panda
manipulator for now.
roslaunch cme_launch full.launch robot:=mm_400 manipulator:=panda
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rosrun actionlib axclient.py /rotate_in_place
rosrun actionlib axclient.py /navigate_room
rosrun rqt_reconfigure rqt_reconfigure
roslaunch cme_launch test_panda_moveit.launch
ROS_NAMESPACE=/ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Overview of xacro file at complete_mp_model.urdf.xacro.
Doors are created using a xacro macro defined in door.xacro.xml.
Documentation on usage available in the door xacro document.
Light switches are created using a xacro macro defined in light_switch.xacro.xml.