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Thread: How do I set up a simulation using the Interbotix Sample?

  1. How do I set up a simulation using the Interbotix Sample?

    This is my first ROS robotics project and I'm trying to understand how to set up the simulator to test my code before I use a physical device. There will be a handful of developers that will want to use this robot, so having a simulation environment set up will be helpful to share the fun.

    What I am unsure of now is figuring out
    - How do I set up the development environment? (Java or python would be preferred)
    - How is this development environment set up to use the simulator to verify the code does what is expected prior to using the real deal

    Here's what I've done so far:
    - Received our PincherX 150 (px150)
    - Installed ROS (on Ubuntu)
    - Built the https://github.com/Interbotix/interbotix_ros_arms
    - Run the moveit sample with gazebo
    roslaunch interbotix_moveit_interface moveit_interface.launch robot_name:=px150 use_gazebo:=true

    And I'm able to see the px150 model in the viewer.



  2. Re: How do I set up a simulation using the Interbotix Sample?

    I found the "Programming Robots with ROS" ( https://wiki.ros.org/Books/Programming_Robots_with_ROS ), which is giving me the foundations of ROS to understand better what's going on.

    However, I'm still having issues creating a python script to interact with the simulator.

    Here's what I've done:
    - launched the simulator
    roslaunch interbotix_moveit_interface moveit_interface.launch robot_name:=px150 use_gazebo:=true
    - updated the CMakeLists.txt to use the JointTrajectory and JointTrajectoryPoint data types
    - created a 'first.py' script


    import rospy

    from trajectory_msgs.msg import JointTrajectory
    from trajectory_msgs.msg import JointTrajectoryPoint

    rospy.init_node('first')

    pub = rospy.Publisher('/px150/arm_controller/command', JointTrajectory, queue_size = 1)

    rate = rospy.Rate(1)

    point = JointTrajectoryPoint
    point.positions = [2.0]
    point.time_from_start = 0
    joint_trajectory = JointTrajectory()
    joint_trajectory.joint_names = ["waist"]
    joint_trajectory.points = [point]

    pub.publish(joint_trajectory)

    When I run this, there is no error output and the simulator doesn't move. I tried changing the 'positions' array to values of 0.0, 1.0, 2.0, 20.0, 200.0 with no change in behavior.

  3. Re: How do I set up a simulation using the Interbotix Sample?

    I've also tried using the 'rqt_gui', but have issues getting the right format for he JointTrajectory object. I've been trying [{"positions"=[20],"time_from_start" = 0}] and similar versions, but I can't seem to get it right


    Any ideas?

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