sciurus17_examples

This package includes examples to control Sciurus17 using sciurus17_ros.

How to launch Sciurus17 base packages

1. Connect cables of a head camera, a chest camera and a control board to a PC.
2. Power on the Sciurus17 and the camera device names are shown in the /dev directory.
3. Open terminal and launch sciurus17_bringup.launch of sciurus17_bringup package.

This launch file has arguments:

• use_rviz (default: true)
• use_head_camera (default: true)
• use_chest_camera (default: true)

Using virtual Sciurus17

To launch Sciurus17 base packages without Sciurus17 hardware, unplug the control board’s cable from the PC, then launch nodes with the following command:

roslaunch sciurus17_bringup sciurus17_bringup.launch

Using real Sciurus17

Launch the base packages with the following command:

roslaunch sciurus17_bringup sciurus17_bringup.launch

Using without cameras

Launch the base packages with arguments:

roslaunch sciurus17_bringup sciurus17_bringup.launch use_head_camera:=false use_chest_camera:=false

Using without RViz

To reduce the CPU load of the PC, launch the base packages with arguments:

roslaunch sciurus17_bringup sciurus17_bringup.launch use_rviz:=false

Using Gazebo simulator

Launch the packages with the following command:

roslaunch sciurus17_gazebo sciurus17_with_table.launch

# without RViz
roslaunch sciurus17_gazebo sciurus17_with_table.launch use_rviz:=false

Run Examples

Following examples will be executable after launch Sciurus17 base packages.

• gripper_action_example
• neck_joint_trajectory_example
• waist_joint_trajectory_example
• pick_and_place_demo
• hand_position_publisher
• head_camera_tracking
• chest_camera_tracking
• depth_camera_tracking
• preset_pid_gain_example
• box_stacking_example
• current_control_right_arm
• current_control_left_wrist

gripper_action_example

This is an example to open/close the grippers of the two arms.

Run a node with the following command:

rosrun sciurus17_examples gripper_action_example.py

<img src= https://rt-net.github.io/images/sciurus17/gazebo_gripper_example.gif width=500px />

Videos

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