sot-tiago  1.5.0
dynamic-graph package for Tiago robot
Running an Experiment

This page details how to run an experiment on Tiago

  • The best practice is to test the movement on Gazebo before performing on the real robot
  • Turn the Tiago on
  • If necessary, transfer your packages from the development machine to the robot
  • Check the Web Commander. Put the arm to the Home position
  • On Tiago-48c, run:
      python /opt/openrobots/share/sot-tiago/tests/stop-controllers.py
    
      pal-stop deployer
      >> result: "deployer stopped successfull
    
      pal-start deployer
      >> result: "deployer started"
    
    Run SoT on Tiago without using the mobile base
    roslaunch roscontrol_sot_tiago sot_tiago_controller.launch use_mobile_base:=false
    
  • Run your experiment as you do it in simulation. For instance, on development machine

      source ~/setup-opt-robotpkg.sh
      cd <test directory>
      python test.py
    

    and/or

    source ~/setup-opt-robotpkg.sh
    rosrun dynamic_graph_bridge run_command
    

    The content of the script setup-opt-robotpkg.sh:

    #!/bin/bash 
    export ROBOTPKG_BASE=/opt/openrobots
    export PATH=$PATH:$ROBOTPKG_BASE/sbin:$ROBOTPKG_BASE/bin
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROBOTPKG_BASE/lib:$ROBOTPKG_BASE/lib/plugin:$ROBOTPKG_BASE/lib64
    export PYTHONPATH=$PYTHONPATH:$ROBOTPKG_BASE/lib/python2.7/site-packages:$ROBOTPKG_BASE/lib/python2.7/dist-packages
    export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$ROBOTPKG_BASE/lib/pkgconfig/
    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ROBOTPKG_BASE/share:$ROBOTPKG_BASE/stacks
    export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$ROBOTPKG_BASE
    
  • Run the following command to restart PAL's deployer, in which SoT runs. This is required to restart SoT controller again
      pal-stop ros_bringup && pal-stop deployer && pal-start deployer && pal-start ros_bringup
    
  • When you are done, turn the robot off.
  • At the end of the day, please put Tiago back to its charging place.