rahulbhadani / re_trajectory-generator Goto Github PK

General notes
=============
Generate typekit using the following command:
typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h  -t mqueue
We assume that you put your friComm.h header file inside lwr_fri/include.

Documentation can be generated using rosdoc in the trajectory_generator directory
rosrun rosdoc rosdoc trajectory_generator

About the use of the TrajectoryGenerator component
==================================================
Solo Mode
---------
Run the TrajectoryGenerator and visualize the robot maneuvers in rviz
ROS package without connecting it to the real robot.
Procedure:
* roscore
* roslaunch re_kuka visualize.launch 
* cd trajectory_generator/deploy
* ./run.sh TrajectoryGeneratorSim_jntPosInput.xml
---
EDIT: the commands above are now combined in the following launch files:
*roslaunch trajectory_generator TGSim_cartPosInput.launch
*roslaunch trajectory_generator TGSim_jntPosInput.launch
---
Then you can run
* rosrun poseToOrocos poseSingle (poseLoop. jntPosSingle, jntPosLoop)
to issue commands to the robot from ROS 


FRI Mode
--------
Run the TrajectoryGenerator and visualize the robot maneuvers in rviz
ROS package while sending commands to the real robot via FRIComponent.
Procedure:
* roscore
* roslaunch re_kuka visualize.launch
* cd trajectory_generator/deploy
* ./run.sh TrajectoryGeneratorReal_jntPosInput.xml
---
EDIT: the commands above are now combined in the following launch files:
*roslaunch trajectory_generator TGSim_cartPosInput.launch
*roslaunch trajectory_generator TGSim_jntPosInput.launch
---
Then you can run
* rosrun poseToOrocos poseSingle (poseLoop. jntPosSingle, jntPosLoop)
to issue commands to the robot from ROS 


General Notes
=============
* To compile everything, use ``rosmake kuka_IK poseToOrocos re_kuka trajectory_generator lwr_fri``