perplexinglysimple / robotsarefun Goto Github PK

How to build

catkin_make
source devel/setup.bash

#Set webots home
export WEBOTS_HOME=/usr/local/webots

#If you are running 20.04 you should look at this
#https://answers.ros.org/question/382842/i-am-getting-error-while-loading-shared-libraries-libboost_systemso1651/
#export webots_home to this location

#To get tiago running
#Install ros
#run catkin_make && source devel/setup.bash

roslaunch webots_ros tiago.launch

#This already has a hand and moveit controller. I am trying to break the controller. Have to edit moveIt so build times will increase
#Parmeters server has an odom loaded looking at changing that
#Topics I care about
#Arm command stuff
/arm_controller/command
/arm_controller/follow_joint_trajectory/cancel
/arm_controller/follow_joint_trajectory/feedback
/arm_controller/follow_joint_trajectory/goal
/arm_controller/follow_joint_trajectory/result
/arm_controller/follow_joint_trajectory/status
/arm_controller/state
#Things I care about for feedback
/tiago/arm_1_joint/torque_feedback
/tiago/arm_1_joint_sensor/value
/tiago/arm_2_joint/torque_feedback
/tiago/arm_2_joint_sensor/value
/tiago/arm_3_joint/torque_feedback
/tiago/arm_3_joint_sensor/value
/tiago/arm_4_joint/torque_feedback
/tiago/arm_4_joint_sensor/value
/tiago/arm_5_joint/torque_feedback
/tiago/arm_5_joint_sensor/value
/tiago/arm_6_joint/torque_feedback
/tiago/arm_6_joint_sensor/value
/tiago/arm_7_joint/torque_feedback
/tiago/arm_7_joint_sensor/value
/tiago/gripper_left_finger_joint/force_feedback
/tiago/gripper_left_finger_joint_sensor/value
/tiago/gripper_right_finger_joint/force_feedback
/tiago/gripper_right_finger_joint_sensor/value