| | 1 | = Teach & Play Demo - Single Arm = |
| | 2 | |
| | 3 | == Overview == |
| | 4 | The Teach & Play program runs the following processes: |
| | 5 | - `client` - connects to the robot |
| | 6 | - `position_controller` - generates, records, plays, and pauses trajectories and runs a position control loop. |
| | 7 | - `rviz` |
| | 8 | - `keyboard` |
| | 9 | |
| | 10 | == Launching == |
| | 11 | To run teach and play, open a terminal and run the command the corresponds to the robot you're using: |
| | 12 | |
| | 13 | ==== For the right-handed robot ==== |
| | 14 | `bash roslaunch proficio_client_ros teach_and_play_demo.launch side:=right` |
| | 15 | |
| | 16 | ==== For the left-handed robot ==== |
| | 17 | `bash roslaunch proficio_client_ros teach_and_play_demo.launch side:=left` |
| | 18 | |
| | 19 | If you are not familiar with linux, see https://help.ubuntu.com/stable/ubuntu-help/. |
| | 20 | If you have not used ROS before, see http://wiki.ros.org/ for more information on how this works |
| | 21 | |
| | 22 | When you run this command, you will see status messages scroll on the terminal, and then it will launch two additional windows -- a small black keypress window and an Rviz window. See http://wiki.ros.org/rviz for information on how to use Rviz. |
| | 23 | |
| | 24 | === Troubleshooting: === |
| | 25 | If you see `Status [unset]`, the robot has not connected properly. Try using the other side. |
| | 26 | |
| | 27 | == Usage == |
| | 28 | In order to control the robot, put window focus on the keypress capture window by clicking on it. First, ensure that the robot is in home position, then press `h` to home the robot in software. when you are ready, press `e` to enable the robot. You will hear the motors turn on, and the robot will begin providing gravity assistance. |
| | 29 | |
| | 30 | The following keys will control the robot: |
| | 31 | |
| | 32 | === Key Mapping === |
| | 33 | |
| | 34 | || '''Key''' || '''Description''' || |
| | 35 | || h || Home the robot || |
| | 36 | || e || Enable Torque || |
| | 37 | || d || Disable Torque || |
| | 38 | || r || Start recording trajectory || |
| | 39 | || s || Stop recording trajectory || |
| | 40 | || p || Play trajectory || |
| | 41 | || o || Pause trajectory || |
| | 42 | || q || Create Square Trajectory || |
| | 43 | || CTRL+c || Close program || |
| | 44 | |
| | 45 | === Example === |
| | 46 | To run a teach and play, once the robot is enabled, you would: |
| | 47 | * Press `r` to start recording |
| | 48 | * Move the robot smoothly and slowly in the desired trajectory |
| | 49 | * Press `s` to stop recording |
| | 50 | * Press `p` to play the trajectory back. The trajectory will go forward and backward in the path you created. It will run until stopped |
| | 51 | * Press `o` when you are done playing the trajectory. |
| | 52 | * Press `ctrl+c` to close the program |
