robotsarefun's Introduction
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
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