sot-tiago
1.5.0
dynamic-graph package for Tiago robot
|
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
pal-stop ros_bringup && pal-stop deployer && pal-start deployer && pal-start ros_bringup