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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