From 661c0b2ef6feb90f350573d6d5ba457838a921e0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tahsincan=20K=C3=B6se?= Date: Sun, 27 Oct 2024 22:33:16 +0300 Subject: [PATCH 1/2] Improve MoveIt Servo tutorial with keyboard teleop instructions. --- .../realtime_servo_tutorial.rst | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/doc/realtime_servo/realtime_servo_tutorial.rst b/doc/realtime_servo/realtime_servo_tutorial.rst index 43f7c41d5..a415eca2b 100644 --- a/doc/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/realtime_servo/realtime_servo_tutorial.rst @@ -120,6 +120,39 @@ The ``moveit_servo/config`` folder contains two examples of converting `SpaceNav ``spacenav_cpp.launch`` launches a C++ node that does the same thing but with less latency. We do not plan to accept C++ pull requests for more controller types because there is a lot of overhead involved in supporting them. +Configuring Keyboard as a Control Device +------------------------------------------------------ +Assuming you are in ``~/ws_moveit`` folder already, ``cd`` to ``src/universal_robot`` and checkout the latest ``noetic-devel`` branch with ``git checkout noetic-devel``. After this, you should have a ``ur5_moveit_tutorials`` package under ``universal_robot`` folder. Finally: + +Install any new dependencies that may be missing: :: + + rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO + +Re-build and re-source the workspace. :: + + cd ~/ws_moveit/ + + catkin build + + source devel/setup.bash + +In Terminal-1, run :: + + roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_traj_controller.launch + +In Terminal-2, run :: + + rosrun ur5_moveit_tutorials keyboard_teleop.py + +See the following video for an example usage: + +.. raw:: html + +
+ +
+ + Integration Testing ------------------- From c8c121dca09123ba3fa4f652f9857c8b86125b67 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tahsincan=20K=C3=B6se?= Date: Sun, 3 Nov 2024 17:43:01 +0300 Subject: [PATCH 2/2] Improve MoveIt Servo tutorial with joy teleop instructions. --- doc/realtime_servo/realtime_servo_tutorial.rst | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/doc/realtime_servo/realtime_servo_tutorial.rst b/doc/realtime_servo/realtime_servo_tutorial.rst index a415eca2b..4ecd89892 100644 --- a/doc/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/realtime_servo/realtime_servo_tutorial.rst @@ -114,7 +114,7 @@ An `rqt_graph` of the servo node is shown below (Enlarge by clicking it). Most o .. image:: servo_rqt_graph.png :width: 700px -Configuring Control Devices (Gamepads, Joysticks, etc) +Configuring Control Devices (Gamepads etc.) ------------------------------------------------------ The ``moveit_servo/config`` folder contains two examples of converting `SpaceNavigator `_ 3D mouse commands to servo commands. ``spacenav_teleop_tools.launch`` loads a config file then publishes commands to the servo node on the ``spacenav/joy topic``. It is easy to create your own config file for a particular joystick or gamepad. @@ -152,7 +152,19 @@ See the following video for an example usage: +Configuring Joystick as a Control Device +------------------------------------------------------ +As an alternative, you can use a joystick to control the robot. Assuming you have already compiled the workspace and sourced it, simply run. :: + + roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_joy.launch + +See the following video for an example usage: +.. raw:: html + +
+ +
Integration Testing -------------------