Skip to content

Instantly share code, notes, and snippets.

@Ry0

Ry0/motoman_startup_memo.md

Last active May 9, 2016 07:45
Show Gist options
  • Star 0 You must be signed in to star a gist
  • Fork 0 You must be signed in to fork a gist
  • Save Ry0/71e96efd076c6c5f9aeb05c433bf3300 to your computer and use it in GitHub Desktop.
Save Ry0/71e96efd076c6c5f9aeb05c433bf3300 to your computer and use it in GitHub Desktop.
Download ZIP
motomanの起動メモ
Raw
motoman_startup_memo.md

motomanのリポジトリ

https://github.com/Nishida-Lab/motoman_project

サーバー側

source Workspace/ROS/motoman_ws/src/motoman_project/scripts/rosaddress.bash 
rosaddress server
roscore
roslaunch motoman_control sia5_with_multi_kinectv2_streaming.launch
roslaunch motoman_control sia5_real_control.launch 
roslaunch kinect2_bridge kinect2_bridge.launch base_name:=kinect_first
rosrun motoman_moveit point_cloud_merger
roslaunch motoman_moveit sia5_with_multi_kinectv2_moveit_planning_execution.launch

クライアント側

rosaddress client 192.168.12.100
roslaunch kinect2_bridge kinect2_bridge.launch base_name:=kinect_second

キャリブレーション

source Workspace/ROS/motoman_ws/src/motoman_project/scripts/rosaddress.bash 
rosaddress server
roslaunch motoman_control sia5_with_jamming_streaming.launch 
roslaunch motoman_control sia5_real_control.launch
rosrun motoman_moveit tf_interactive_marker.py base_link kinect_first 0.8863 -0.7398 0.7912 0.0 0.5061 1.9897
roslaunch kinect2_bridge kinect2_bridge.launch base_name:=kinect_first
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment