How to Run Demo trikey (Cartesian Position and Orientation)

This section describes how to use RAPid to control Trikey's cartesian position and heading in simulation.

Generate the URDFs

Note: One only needs to generate the URDFs again if the xacros from which the URDFs are derived have changed. If this is your first time running the demo or you are unsure if the xacros have changed, do not skip this step.

Generate the URDF description files:

$ roscd trikey_controlit/models
$ ./generate_trikey_controlit_urdfs.sh

Launch Automatically Using a Single Command

To run the demo using a single command:

$ reset && roslaunch trikey_controlit simulate_cartesian.launch

Launch Manually Using Multiple Commands

Start roscore.

$ roscore

Start the shared memory manager:

$ rosrun shared_memory_interface shared_memory_manager

Load the parameters onto the ROS parameter server (this command will run then exit):

$ roslaunch trikey_controlit load_trikey_parameters_cartesian.launch

Start the simulation:

$ roslaunch trikey_controlit gazebo.launch

You should now see Gazebo's window with Trikey loaded. The simulation will initially be stopped. Leave it this way for now.

Start the controller:

$ roslaunch trikey_controlit start_controlit.launch

The above command will start the RAPid controller and block. Hit play in Gazebo to start the demo.

Usage Notes

To change the reference Cartesian position and Heading:

$ roscd trikey_controlit/scripts
$ ./run_example.sh

Here is a video of what you should see: