This example allows you to perform a Cartesian Pose Task (see: https://github.com/ADVRHumanoids/Pose-Task).
It generates a thrird order trajectory for the position and orientation (using the Euler Angles).
Clone and build the pose project: there are several options to do it, but probably the easiest is using the catkin build tool from ROS.
mkdir -p ~/src/catkin_cspose_ws/src
cd ~/src/catkin_cspose_ws/src
catkin_init_workspace
git clone https://github.com/ADVRHumanoids/ROS_CartesianSpaceExample.git
cd ..
catkin_make
The selected robot was Centauro, whose basic config file can be set in this way:
set_xbot_config /opt/xbot/build/install/share/xbot/configs/CogimonConfig/cogimon_basic.yaml
As first thing you should run roscore:
roscore
Later on you can start the XBotCore in "dummy" mode in another terminal (more information here) in this way:
XBotCore -D
In another terminal you can use the RViZ tool to visualize the kinematic simulation of the robot by running:
rviz
and adding a "RobotModel" with the following Robot Description: xbotcore/robot_description Remind to select "world" for "Fixed Frame" in "Global Options".
This should be the visualization:
Start XBot Communication Plugin:
rosservice call /xbotcore/HomingExample_switch 1
rosservice call /xbotcore/HomingExample_switch 0
rosservice call /xbotcore/XBotCommunicationPlugin_switch 1
In another terminal launch:
. ~/src/catkin_cspose_ws/devel/setup.bash
Terminal 1:
rosrun posecartspace poseCSp_talker
This should be the visualization:
