How to Use ControlIt! with dreamer_no_left_arm (Right Hand Cartesian Position)

This section describes how to control the Cartesian position and orientation of dreamer_no_left_arm's right hand.

Generate the URDFs

Generate the URDF description files:

$ roscd dreamer_no_left_arm_controlit/models
$ ./generate_dreamer_no_left_arm_urdfs.sh

Launch Automatically Using a Single Command

To run the demo using a single command:

$ reset && roslaunch dreamer_no_left_arm_controlit simulate_right_hand_cartesian.launch

Launch Manually Using Multiple Commands

Start roscore.

$ roscore

Start the shared memory manager:

$ rosrun shared_memory_interface shared_memory_manager

In a new terminal load the parameters onto the ROS parameter server. The command below will exit after loading the parameters.

$ roslaunch dreamer_no_left_arm_controlit load_dreamer_no_left_arm_parameters_right_hand_cartesian.launch

Start the simulation by executing the following command in the same terminal:

$ roslaunch dreamer_no_left_arm_controlit gazebo.launch

You should now see Gazebo with Dreamer loaded. The simulation will initially be stopped. Leave it this way for now.

Start the controller:

$ roslaunch dreamer_no_left_arm_controlit start_controlit.launch

The above command will start the hand controllers and block. Hit play in Gazebo to start the demo.

Here is what you should see. The initial joint reference positions are: [0, 0, 0, 0, 0.2, 0, 0, 0, 0, 0, 0, 0, 0, 0].

To view the robot in RViz:

$ rosrun rviz rviz