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Turbot3-ARM入门教程-抓取挑战之多个目标抓取测试

说明

  • 本教程介绍在完成前面的建图后如何进行多个目标抓取测试

操作步骤

  • [Remote PC] 运行roscore
$ roscore
  • [Turbot3 SBC] 启动machine tag,Moveit,Navigation和Camera
$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_home_service_challenge_demo_remote.launch 
  • [Remote PC] 运行rviz
$ rosrun rviz rviz -d `rospack find turtlebot3_home_service_challenge_tools`/rviz/tb3_hsc.rviz
  • [Remote PC] 运行manager包
$ roslaunch turtlebot3_home_service_challenge_manager manager.launch
  • [Remote PC] 任务命令
// Ready : TurtleBot3 will prepare to start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String ready_mission

// Start : TurtleBot3 will start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String start_mission

// Stop : TurtleBot3 will stop running a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String stop_mission

// Restart : TurtleBot3 will restart a mission by a given scenario.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String restart_mission:SCENARIO_NAME
  • [Remote PC] 单独任务步骤测试
//导航
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_start
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_0
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_1
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_2

// 机械臂
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_home
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_joint
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_task
$ rostopic pub -1 /tb3_hsc/command std_msgs/String open_gripper
$ rostopic pub -1 /tb3_hsc/command std_msgs/String close_gripper

演示视频

  • 该视频中的演示是基于一个自定义的场景来进行的

  • 但若是基于自己搭建的测试环境,可以通过简单修改scenario.yamlroom.yaml的配置文件来完成抓取挑战

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