|Note: This tutorial assumes that you have completed the previous tutorials: Installation.|
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Get the milkDescription: This tutorial teaches you how to run the get milk script.
Tutorial Level: BEGINNER
Next Tutorial: Detailed explanation
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Set environment variables
To execute the following commands, you have to specify the ROBOT and ROBOT_ENV variable. More information about the variables can be found on the general Care-O-bot page. Either export the variables in each terminal with
export ROBOT=cob3-1 export ROBOT_ENV=ipa-kitchen
or add set them automatically for all terminals with
echo "export ROBOT=cob3-1" >> ~/.bashrc echo "export ROBOT_ENV=ipa-kitchen" >> ~/.bashrc source ~/.bashrc
Running the script
In order to run the get_milk script you need to take the following steps. Start each step in a new terminal window. For a more detailed explanation for the individual steps please have a look at the detailed explanation page.
Start the roscore
Start the get_milk launch file
roslaunch srs_get_milk get_milk.launch
Spawn the milk box in Gazebo
roslaunch cob_gazebo_worlds milk_box.launch
rosrun rviz rviz -d ~/git/care-o-bot/srs/srs_get_milk/get_milk.vcg
Start the get_milk script
rosrun srs_get_milk get_milk.py
Hit return in the script terminal "Wait for user input..." is prompted.
This steps are not neccesarry, but help you to understand what's going on.
Start the dashboard
roslaunch cob_dashboard dashboard.launch
Start the script_viewer (live)
rosrun cob_script_server script_viewer
Generate a graph from the script
roscd srs_get_milk/ros/scripts rosrun cob_script_server script_to_graph.py get_milk.py eog get_milk.png
You should see a graph like this