Demonstrate APC2015 on Simulation¶
Real world demonstration for APC2015 can be done on any computers with ROS indigo.
Installation¶
- Install the ROS: (Instructions for ROS indigo on Ubuntu 14.04).
- Setup catkin workspace as below:
# setup catkin
mkdir -p ~/ros/jsk_apc2015_sim && cd ~/ros/jsk_apc2015_sim
catkin init
# setup repos
cd ~/ros/jsk_apc2015_sim/src
wstool init
wstool merge https://raw.githubusercontent.com/start-jsk/jsk_apc/0.1.3/jsk_2015_05_baxter_apc/simulation.rosinstall
wstool update -j8
# install depends
rosdep install --from-path . -r -y
# build repos
catkin build -iv -j8
Demo¶
roslaunch jsk_2015_05_baxter_apc baxter_sim.launch
roslaunch jsk_2015_05_baxter_apc setup.launch
roslaunch jsk_2015_05_baxter_apc main.launch json:=$(rospack find jsk_apc2015_common)/json/f2.json
# optional visualization
rviz -d $(rospack find jsk_2015_05_baxter_apc)/rvizconfig/gazebo_demo.rviz