Difference between revisions of "Running Examples Overview"

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== Prerequisites ==
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= Prerequisites =
  
* You have completed all of the [[Installation|Installation]] instructions for setting up your robot and development machine.
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* '''You have completed all of the [[Installation|Installation]] instructions for setting up your robot and development machine.'''
* The development workstation has been connected to the robot and [[Hello Robot | connectivity has been validated]].
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* '''The development workstation has been connected to the robot and [[Hello Robot | connectivity has been validated]].'''
  
 
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== Running Examples with the SDK ==
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= Running Examples with the SDK =
  
=== Initialize ===
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== Initialize ==
  
 
[[SDK Shell | Initialize your environment]]:
 
[[SDK Shell | Initialize your environment]]:
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=== Run a program! ===
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== Run a program! ==
  
 
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== Clone the SDK Examples ==
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= Clone the SDK Examples =
  
 
The <code>'intera_examples'</code> locate under intera_sdk repo, put <code>'intera_sdk'</code> into your ROS development workspace (<code> ~/ros_ws/src </code>). This will allow you to dig into the examples, follow along with the code walkthroughs and base your custom code off of these examples.
 
The <code>'intera_examples'</code> locate under intera_sdk repo, put <code>'intera_sdk'</code> into your ROS development workspace (<code> ~/ros_ws/src </code>). This will allow you to dig into the examples, follow along with the code walkthroughs and base your custom code off of these examples.
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== SDK Examples ==
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= SDK Example List =
  
=== Movement ===
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== Movement ==
  
[[Joint Position Waypoint Example]] - Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back.
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[[Gripper Example]] - Joystick and Keyboard control for the gripper.
  
[[Joint Position Example]] - Joystick, keyboard control for Sawyer's arm.
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[[Gripper Cuff Control Example]] - Simple cuff-interaction control with Zero-G mode.
  
[[Joint Torque Springs Example]] - Joint torque control example applying virtual spring torques.
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[[Head Movement Example]] - Simple demo moving the head.
  
 
[[IK Service Example|Inverse Kinematics Service Example]] - Basic use of Inverse Kinematics solver service.
 
[[IK Service Example|Inverse Kinematics Service Example]] - Basic use of Inverse Kinematics solver service.
  
[[Joint Trajectory Playback Example]] - Trajectory playback using the joint trajectory interface.
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[[Joint Position Example]] - Joystick, keyboard control for Sawyer's arm.
  
[[Head Movement Example]] - Simple demo moving and nodding the head.
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[[Joint Position Waypoint Example]] - Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back.
  
[[Gripper Example]] - Joystick and Keyboard control for the grippers.
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[[Joint Torque Springs Example]] - Joint torque control example applying virtual spring torques.
  
[[Gripper Cuff Control Example]] - Simple cuff-interaction control with Zero-G mode.
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[[Joint Trajectory Playback Example]] - Trajectory playback using the joint trajectory interface.
  
=== Robot Configuration ===
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== Interaction Control ==
  
[[URDF Configuration Example]] - A simple ROS node that shows how to add segment and joint subtrees to the robot's model.
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[[Set Interaction Options Example]] - Example script for setting interaction control parameters in the current configuration.
  
=== Input and Output ===
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== Input and Output ==
  
[[Display Image Example]] - Example tool for displaying image files (png, jpeg) on the Head Screen.
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[[Camera Image Display Example]] - Example tool for viewing cameras feed of Sawyer robot on development machine.
  
[[image_view|View Cameras Example]] - Simple tool for viewing camera feed on development machine.
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[[Head Display Image Example|Head Display Image Example]] - Example tool for displaying image files (png, jpeg) on the Head Screen.
  
[[Input Output Example|I/O Example]] - Flash the lights on the digital outputs.
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[[Lights Blinking Example|Lights Blinking Example]] - Flash the lights on the digital outputs.
  
 
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Latest revision as of 21:07, 21 November 2017

This section describes the SDK example programs. These example programs are provided as a starting point, demonstrating usage of the Python SDK packages for control of your robot.

Prerequisites

Running Examples with the SDK

Initialize

Initialize your environment:

$ cd ~/ros_ws
$ ./intera.sh


Run a program!

$ rosrun intera_examples <example_program> [arguments]

Refer to the individual examples below for a complete list of arguments or run it as

$ rosrun intera_examples <example_program> -h

to find the list of arguments.

Clone the SDK Examples

The 'intera_examples' locate under intera_sdk repo, put 'intera_sdk' into your ROS development workspace ( ~/ros_ws/src ). This will allow you to dig into the examples, follow along with the code walkthroughs and base your custom code off of these examples.

$ cd ~/ros_ws/src
$ git clone https://github.com/RethinkRobotics/intera_sdk.git

SDK Example List

Movement

Gripper Example - Joystick and Keyboard control for the gripper.

Gripper Cuff Control Example - Simple cuff-interaction control with Zero-G mode.

Head Movement Example - Simple demo moving the head.

Inverse Kinematics Service Example - Basic use of Inverse Kinematics solver service.

Joint Position Example - Joystick, keyboard control for Sawyer's arm.

Joint Position Waypoint Example - Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back.

Joint Torque Springs Example - Joint torque control example applying virtual spring torques.

Joint Trajectory Playback Example - Trajectory playback using the joint trajectory interface.

Interaction Control

Set Interaction Options Example - Example script for setting interaction control parameters in the current configuration.

Input and Output

Camera Image Display Example - Example tool for viewing cameras feed of Sawyer robot on development machine.

Head Display Image Example - Example tool for displaying image files (png, jpeg) on the Head Screen.

Lights Blinking Example - Flash the lights on the digital outputs.