Difference between revisions of "C++ Hello World example"
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The hello_world_demo is an example application to show you how to use the KUKA youBot API for writing your own applications. You can use all the sources in this directory as a template. Controlling both, the KUKA youBot base and the youBot manipulator are shown in this example. | The hello_world_demo is an example application to show you how to use the KUKA youBot API for writing your own applications. You can use all the sources in this directory as a template. Controlling both, the KUKA youBot base and the youBot manipulator are shown in this example. | ||
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We assume, that you have installed the KUKA youBot API already and you are going to install the application to the "applications" folder in your home directory. | We assume, that you have installed the KUKA youBot API already and you are going to install the application to the "applications" folder in your home directory. | ||
Follow these steps to checkout and compile: | Follow these steps to checkout and compile: | ||
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<pre> | <pre> | ||
| − | + | cd | |
| − | + | git clone https://github.com/youbot/youbot_applications.git | |
| − | + | cd youbot_applications/hello_world_demo | |
| − | + | mkdir build | |
| − | + | cd build | |
| − | + | cmake .. | |
| − | + | make | |
</pre> | </pre> | ||
Revision as of 15:59, 5 February 2015
The hello_world_demo is an example application to show you how to use the KUKA youBot API for writing your own applications. You can use all the sources in this directory as a template. Controlling both, the KUKA youBot base and the youBot manipulator are shown in this example.
Installation using catkin_make
You first need to checkout the source code of this program from SVN and then compile it.
cd <your catkin workspace>/src git clone https://github.com/youbot/youbot_applications cd .. catkin_make
Usage
To run program you have to run a command:
rosrun hello_world_demo youBot_HelloWorldDemo
The program will start, moving the base and the arm. The youBot will move approx. 10cm forwards, then approx. 10cm backwards, then approx. 10cm to the left and approx. 10cm to the right. Afterwards it will ”unfold” the arm and ”fold” it again.
Installation using build cmake
You first need to checkout the source code of this program from SVN and then compile it. We assume, that you have installed the KUKA youBot API already and you are going to install the application to the "applications" folder in your home directory. Follow these steps to checkout and compile:
cd git clone https://github.com/youbot/youbot_applications.git cd youbot_applications/hello_world_demo mkdir build cd build cmake .. make
The binary will be generated in the folder ~/applications/hello_world_demo/bin.
Usage
To start the application use:
cd bin sudo ./YouBot_HelloWorldDemo
The program will start, moving the base and the arm. The youBot will move approx. 10cm forwards, then approx. 10cm backwards, then approx. 10cm to the left and approx. 10cm to the right. Afterwards it will ”unfold” the arm and ”fold” it again.
If you want to write your own application, using this sources and folder structure, do not forget to edit the main CMakeLists.txt file, which resides in the hello_world_demo folder.
ADD_SUBDIRECTORY(./src/)
