jsk_interactive_markers

How to use jsk interactive markers

in robot

rosrun roseus roseus `rospack find jsk_interactive`/euslisp/move-joint-interface-robot.l

or

roslaunch jsk_pr2_startup pr2_teleop_robot.launch

The latter includes the former and other nodes for teleoperation.

in remote PC

roslaunch jsk_interactive_marker jsk_interactive_marker_controller_remote.launch

or

roslaunch jsk_pr2_startup pr2_teleop_remote.launch

The latter includes the former and other nodes for teleoperation.

To move with joystick

roslaunch jsk_teleop_joy pr2_remote.launch DEV:=/dev/input/js0

System description

System configuration diagram

Control of model robot

Joint Control

Click robot interactive marker in rviz and move joint.

Hand Control

Move hand interactive marker in rviz.

Control of real robot

When “Move” is selected with mouse or joystick, sensor_msgs/JointState is send to move-joint-interface.l .

move-joint-interface.l controls a real robot.

Node description

interactive_marker_interface

Control hand pose with 6-DOF interactive marker.

urdf_model_marker

Make interactive marker from urdf.