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readme2.md

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installation:

  • install rl from source
  • inside sawyer_robot_ros2/src
  • git clone [email protected]:AssistiveRoboticsUNH/sawyer_robot_ros2.git
  • colcon build
  • source install/setup.bash

run:

cd /home/ns/docker/sawyer-noetic
docker compose up
  • run teleop publisher.
cd ~/sawyer_robot_ros2/
source install/setup.bash
ros2 run joy joy_node
ros2 topic echo /joy  (should show all 0s)
  • run teleop script
cd ~/sawyer_robot_ros2/
source install/setup.bash
cd src/teleop_script
(if error: LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/)
python3 teleop.py

 

ros2 topic echo /robot/joint_states  (if couldn't determine topic, then run pub_dbg.py then run this command again)