romeo_dcm_robot

DCM stack integrating tools to control Romeo robot

Installation

• install dependencies

    sudo apt-get install ros-indigo-romeo-robot ros-indigo-romeo-control ros-indigo-naoqi-dcm-driver
  

• then, install romeo_dcm_bringup or compile it from source

    sudo apt-get install ros-indigo-romeo-dcm-bringup
  

• optionally, install romeo_moveit_config

    sudo apt-get install ros-indigo-romeo-moveit-config
  

How to use it

To command your robot remotely with ros control :

• start the DCM Bringup providing the robot's IP

    roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch robot_ip:=<ROBOT_IP>
  

• Wait until romeo_dcm_bringup node is ready, then start MoveIt! and control the robot:

    roslaunch romeo_moveit_config moveit_planner.launch
  

• or you can send a trajectory to the desired controller (actionlib)

    rosrun actionlib axclient.py <name of the goal topic of the action server>
  

example:

    rosrun actionlib axclient.py /romeo_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load at launchtime you have to modify romeo_control/launch/romeo_control_traject$ To know the list of controllers implemented please refer to : romeo_control/config/romeo_trajectory_control.yaml You can start and stop the ros-controllers using the rqt plugin ControllerManager