Live robot

Network setup (IMPORTANT)

Before going through this section make sure that the network settings of both your PC and Ridgeback have been configured as described in the Getting started section of our Clearpath Ridgeback wiki.

It is critical to set up the ROS_IP and ROS_MASTER_URI environment variables before attempting to run the real robot nodes.

YuMi EGM trajectory velocity control + Ridgeback

To launch the corresponding ROS nodes for ridgeback_yumi, loading a velocity_controllers/JointTrajectoryController for each arm, run the following command:

roslaunch ridgeback_yumi_launch live_robots.launch use_traj_vel_controllers:=true

To launch the corresponding ROS nodes for ridgeback_yumi, loading a velocity_controllers/JointVelocityController for each joint, run the following command:

roslaunch ridgeback_yumi_launch live_robots.launch use_traj_vel_controllers:=false

Visualization in Rviz

Run the following command to visualize the robot in Rviz:

roslaunch ridgeback_yumi_viz view_robot.launch

Topics published by the real robot

To visualize the topics being published by the robot at the moment:

rostopic list