/ValveTask

Primary LanguageC++

Valve Task - How to guide

Set xbot config

set_xbot_config /home/super/advr-superbuild/configs/ADVR_shared/user_example/walkman_valve_task.yaml

Launch

roslaunch walkman_gazebo walkman_valve_task.launch

NRTDeployer

taskset -c 0 XBotGUI

GUI

  1. HomingExample->Start->Stop
  2. ValveTask -> Start
  3. Pub valve pose(for right hand):

Pub calculated valve pose in Gazebo:

./advr-superbuild/external/ValveTask/python/pub_ValvePose_WorldOdom.py

Pub fake valve pose:

./advr-superbuild/external/ValveTask/python/pub_FakeValvePose_WorldOdom.py
  1. press on button success or fail to make finite state machine transits to next state.

Note

  1. Stop any other plugins before starting this plugin.
  2. By default, the robot use its right hand to do the job, so put you robot in a comfortable position for the operation!