From 5920c8fa30756070b23c4b38f8c55fb14bb901bb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tahsincan=20K=C3=B6se?= Date: Sun, 27 Oct 2024 22:33:16 +0300 Subject: [PATCH] Improve MoveIt Servo tutorial with keyboard teleop instructions. --- .../realtime_servo_tutorial.rst | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/doc/realtime_servo/realtime_servo_tutorial.rst b/doc/realtime_servo/realtime_servo_tutorial.rst index 43f7c41d5..1e84e4926 100644 --- a/doc/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/realtime_servo/realtime_servo_tutorial.rst @@ -120,6 +120,39 @@ The ``moveit_servo/config`` folder contains two examples of converting `SpaceNav ``spacenav_cpp.launch`` launches a C++ node that does the same thing but with less latency. We do not plan to accept C++ pull requests for more controller types because there is a lot of overhead involved in supporting them. +Configuring Keyboard as a Control Device +------------------------------------------------------ +Assuming you are in ``~/ws_moveit`` folder already, ``cd`` to ``src/universal_robot`` and checkout the latest ``noetic-devel`` branch with ``git checkout noetic-devel``. After this, you should have a ``ur5_moveit_tutorials`` package under ``universal_robot`` folder. Finally: + +Install any new dependencies that may be missing: :: + + rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO + +Re-build and re-source the workspace. :: + + cd ~/ws_moveit/ + + catkin build + + source devel/setup.bash + +In Terminal-1, run :: + + roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_traj_controller.launch + +In Terminal-2, run :: + + rosrun ur5_moveit_tutorials keyboard_teleop.py + +See the following video for an example usage: + +.. raw:: html + +
+ +
+ + Integration Testing -------------------