Running Examples Overview

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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 Examples

Movement

Joint Position Waypoint Example - The basic example for joint position moves. Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back upon completion.

Joint Position Example - Joystick, keyboard and file record/playback examples using joint position control of Sawyer's arm.

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

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

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

Head Movement Example - Simple demo moving and nodding the head.

Gripper Example - Joystick and Keyboard control for the grippers.

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

Robot Configuration

URDF Configuration Example - A simple ROS node that shows how to add segment and joint subtrees to the robot's model.

Input and Output

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

View Cameras Example - Simple tool for viewing camera feed on development machine.

I/O Example - Flash the lights on the digital outputs.