/tieta_dynamic_collision

tieta MPC

Primary LanguageC++

进入工作空间文件夹

cd VKConTieta_ws
source devel/setup.bash

1、运行Rviz加载tieta以及env模型

roslaunch urdf_tutorial display.launch model:=/home/diamondlee/VKConTieta_ws/src/urdf_description/robot_description/ridgeback_dual_arm_description/urdf/vkc_big_task.urdf.xacro

2、通过自己的节点发布Joint State，关闭display.launch

rosnode kill /joint_state_publisher

3.检查traj.csv是否合理：

rosrun tieta_mpc_sim_demo csv_test_pub_node \ rosurn tieta_mpc_sim_demo csv_test_sub_node

4.运行自己编写的接收mpc_node的速度topic的仿真：

roslaunch tieta_mpc_sim_demo rviz_sim.launch

5.解析parse traj.csv并发布

roslaunch JointTrajPub csv_pub_anglesList.launch

6.运行mpc_node

source devel/setup.bash
cd LOGS
roslaunch tieta_mpc_sim_demo mpc_run.launch 2>&1 | tee mpc_run_日期_时间.log

Pick Action实验流程： 1、运行rviz_sim_save:

roslaunch tieta_mpc_sim_demo rviz_sim_and_save.launch

2、运行mpc_node:

调整参数：config/mpc_params.yaml
roslaunch tieta_mpc_sim_demo mpc_run.launch

3、运行回放

rosrun tieta_mpc_sim_demo csv_test_sub_node
rosrun tieta_mpc_sim_demo new_test_pub_node //调节x、y、tehta

place action： 1、运行Rviz加载tieta以及env模型

roslaunch urdf_tutorial display.launch model:=/home/diamondlee/VKConTieta_ws/src/urdf_description/robot_description/ridgeback_dual_arm_description/urdf/vkc_big_task_place_door.urdf.xacro

2、通过自己的节点发布Joint State，关闭display.launch

rosnode kill /joint_state_publisher

3.检查traj.csv是否合理：

rosrun open_door_tieta_mpc csv_test_pub_node \ rosurn open_door_tieta_mpc csv_test_sub_node

4.运行自己编写的接收mpc_node的速度topic的仿真：

roslaunch opend_door_tieta_mpc rviz_sim.launch

5.解析parse traj.csv并发布

roslaunch DoorTrajPub csv_pub_door_anglesList.launch

6.运行mpc_node

source devel/setup.bash
cd LOGS
roslaunch opend_door_tieta_mpc mpc_run.launch 2>&1 | tee mpc_run_日期_时间.log

7.计算Inverse Kinematics

rosrun opend_door_tieta_mpc ik_solve.launch

Place Action实验流程： 1、运行rviz_sim_save:

roslaunch open_door_tieta_mpc rviz_sim_and_save.launch  //save的是x、y、door_joint、行人的xy

2、运行mpc_node:

调整参数：config/mpc_run.yaml
roslaunch open_door_tieta_mpc mpc_run.launch

3、运行回放

rosrun open_door_tieta_mpc csv_ikmpc_sub_node
rosrun open_door_tieta_mpc csv_ikmpc_pub_node