DCM Bringup for Romeo robot

The package contains launch and configuration files required to bring the robot's DCM Driver up and start the robot controllers. The package allows to control a robot from ROS, while communicating with Naoqi. You can control the robot either by calling DCM commands or ALMotion (by default).

Source code

https://github.com/ros-aldebaran/romeo_dcm_robot

Installation

• Install packages

sudo apt-get install ros-indigo-romeo-robot ros-indigo-romeo-control

• go to a workspace/src

• clone romeo_control

• clone romeo_dcm_driver

• clone romeo_dcm_bringup

• optionally, clone romeo_moveit_config

• compile all packages with

catkin_make

How to use it

• start the DCM bringup providing the IP of your robot

roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>

• you can launch MoveIt! (if installed previously) and control your robot (arms, by default)

roslaunch romeo_moveit_config moveit_planner.launch