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mara_examples's Introduction

MARA Examples

Please make sure you have followed the steps in MARA repository to set up ROS2, HRIM and dependencies.

Build

Clone this repository in your ROS2 workspace.

cd ~/ros2_mara_ws/src && git clone https://github.com/AcutronicRobotics/mara_examples.git

Compile.

source /opt/ros/dashing/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge

Run

Terminal 1

In order to run the examples you need to first spawn MARA in Gazebo.

source ~/ros2_mara_ws/install/setup.bash
ros2 launch mara_gazebo mara.launch.py

You can choose between one of the available URDFs for spawning different configurations of MARA (mara_robot_gripper_140, mara_robot_gripper_140_no_table, mara_robot_gripper_85 and mara_robot_gripper_hande). Remember to spawn a URDF with gripper if you want to run the service examples.

ros2 launch mara_gazebo mara.launch.py --urdf mara_robot_gripper_140

Terminal 2

In a different terminal, run the example you would like to test.

source ~/ros2_mara_ws/install/setup.bash
ros2 run mara_minimal_publisher mara_minimal_publisher_v1

mara_examples's People

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Forkers

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mara_examples's Issues

The number of timestep do not exeeds 10 every time

Hi,
i'm using ROS2 MARA , all is ok no error, but when i run a simple code gg_random.py:
timesteps = 1024

EPISODES = 100
for e in range(EPISODES):
    state = env.reset()        
    for time in range(timesteps):
        #action = env.action_space.sample()            
        action = agent.act(env,state)            
        next_state, reward, done, _ = env.step(action)

The inner loop "for time in range(timesteps):" iteration is 10 every time i run it

Clone and install instructions missing

Just a nitpick about the README - it doens't include instructions for cloning and building the examples repository in order to run them which a user will need to do since they are not included in the mara-ros2.repos file.

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