Only released in EOL distros:
Package Summary
This package contains scripts for testing srs_arm_manipulation.
- Author: Zdenek Materna/imaterna@fit.vutbr.cz
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Package Summary
This package contains scripts for testing srs_arm_manipulation.
- Author: Zdenek Materna/imaterna@fit.vutbr.cz
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Package Summary
This package contains scripts for testing srs_arm_manipulation.
- Author: Zdenek Materna/imaterna@fit.vutbr.cz
- License: LGPL
- Source: git https://github.com/ipa320/srs_public.git (branch: master)
Contents
Overview
This package contains scripts and launch files for testing SRS assisted arm navigation pipeline. There is fake decision making which can be used instead of srs_decision_making for testing. Package also contains copy of assisted arm navigation generic states.
Installation
install srs_assisted_arm_navigation, srs_assisted_arm_navigation_ui and srs_assisted_grasping
- build srs_arm_navigation_tests with
rosmake srs_arm_navigation_tests
Configuration
TBD
Usage
File arm_manip_generic_states.py implements two smach generic states which can be used as part of state machine:
- move_arm_to_given_positions_assisted
- for user assisted trajectory planning i.e. for move the arm to the pre-grasp position
- move_arm_from_a_given_position_assisted
- for user assisted navigation to a safe position
- launch needed stuff:
roslaunch srs_arm_navigation_tests fake_dm_test.launch
- spawn milk:
roslaunch srs_arm_navigation_tests milk_box.launch
- run the fake decision making
roslaunch srs_arm_navigation_tests fake_dm_only.launch
- It will test both generic states in this order:
- move_arm_to_given_positions_assisted
- move_arm_from_a_given_position_assisted
Fake_dm will try to use srs_grasping services to obtain pregrasp position. If it's not possible fake ones will be used (just to test visualization).