Difference between revisions of "ROS Hello World example"
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cd <your catkin workspace>/src | cd <your catkin workspace>/src | ||
| − | git clone https://github.com/ | + | git clone https://github.com/wnowak/youbot_ros_samples |
cd .. | cd .. | ||
catkin_make | catkin_make | ||
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=== Usage === | === Usage === | ||
| − | To run program you have to run a | + | To run the program you have to first start the youbot driver, then start the program itself. First run in a terminal: |
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roslaunch youbot_driver_ros_interface youbot_driver.launch | roslaunch youbot_driver_ros_interface youbot_driver.launch | ||
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| − | + | When this shows the message that the robot is initialized, start in another terminal (while the youbot driver keeps running): | |
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| − | + | rosrun youbot_ros_hello_world youbot_ros_hello_world | |
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| − | 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. | + | 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, and finally open and close the gripper. |
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| − | + | Go back to [[Software | Software]] | |
Latest revision as of 16:14, 19 August 2016
The hello_world_demo is an example application to show you how to use the KUKA youBot API and ROS Wrapper for writing your own applications. You can use all the sources in this directory as a template. Controlling both, the KUKA youBot base, the youBot manipulator and gripper is 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/wnowak/youbot_ros_samples cd .. catkin_make
Usage
To run the program you have to first start the youbot driver, then start the program itself. First run in a terminal:
roslaunch youbot_driver_ros_interface youbot_driver.launch
When this shows the message that the robot is initialized, start in another terminal (while the youbot driver keeps running):
rosrun youbot_ros_hello_world youbot_ros_hello_world
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, and finally open and close the gripper.
Go back to Software
