Starting robot

For now, there are two possibilities how to start robot and the environment server, which contains all services for collision checking, kinematics computations and planning. All files ale located in package clopema_launch.

Real robot

  • Turn on robot in play mode and wait for boot process end
  • Open terminal and write
    roslaunch clopema_launch start_robot.launch
    
  • Wait for message Robot is ready

Virtual robot

Virtual robot is useful for testing. It do not behave exactly like the real robot because it has no trajectory interpolation implemented - it only set robot state to the positions specified in active goal with few ms delay in each position.
  • Write following command in terminal
    roslaunch clopema_launch virtual_robot.launch
    
  • Wait for message Robot is ready