RoboND-simple_arm
A mini-project to better explain pub-sub architecture in ROS
How to Launch the simulation?
Create a catkin_ws, feel free to skip if you already have one!
$ cd /home/workspace/
$ mkdir -p /home/workspace/catkin_ws/src/
$ cd catkin_ws/src/
$ catkin_init_workspace
$ cd ..
Clone the package in catkin_ws/src/
$ cd /home/workspace/catkin_ws/src/
$ git clone https://github.com/udacity/RoboND-simple_arm.git simple_arm
simple_arm
package
Build the $ cd /home/workspace/catkin_ws/
$ catkin_make
After building the package, source your environment
$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
Make sure to check and install any missing dependencies
$ rosdep install -i simple_arm
simple_arm
package has been built, you can launch the simulation environment using
Once the $ roslaunch simple_arm robot_spawn.launch
Interact with the arm using the safe_move service
Open a new terminal and type the following:
$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ rosservice call /arm_mover/safe_move "joint_1: 0.0 joint_2: 0.0"
How to view image stream from the camera?
Camera image stream is published to the following topic:
/rgb_camera/image_raw
This stream can be viewed by following command in separate terminal:
$ rosrun image_view image_view image:=/rgb_camera/image_raw