Changes between Initial Version and Version 1 of Therapy/RosTeachAndPlay


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Timestamp:
Nov 7, 2016, 7:03:13 PM (8 years ago)
Author:
aj
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  • Therapy/RosTeachAndPlay

    v1 v1  
     1= Teach & Play Demo - Single Arm =
     2
     3== Overview ==
     4The 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 ==
     11To 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
     19If you are not familiar with linux, see https://help.ubuntu.com/stable/ubuntu-help/.
     20If you have not used ROS before, see http://wiki.ros.org/ for more information on how this works
     21
     22When 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: ===
     25If you see `Status [unset]`, the robot has not connected properly. Try using the other side.
     26
     27== Usage ==
     28In 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
     30The 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 ===
     46To 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