Running demonstration tools for manipulation

Note This tutorial is tested to work only with Python2.7 version of PyRobot at the moment.

You can also remotely teleoperate the robot to perform some complicated tasks or to collect demonstrations. This feature is only supported on LoCoBot right now. Here's an example of teleoperating the arm to stack some blocks.

Getting started

Make sure robot is turned ON
Launch the robot server. Note that you have to set teleop:=true. Pass in the corresponding flags when launching the robot.

LoCoBot Arm [Real]

Arm+Base [Real]

Arm+Base+Camera [Real]

Arm+Base+Camera [Gazebo]

# You will only be able to control the arm (no base and no camera)
roslaunch locobot_control main.launch use_arm:=true teleop:=true

# You will only be able to control the arm and the base
roslaunch locobot_control main.launch use_arm:=true use_base:=true teleop:=true

# You will only be able to control the arm, the base, and the camera
roslaunch locobot_control main.launch use_arm:=true use_base:=true use_camera:=true teleop:=true

roslaunch locobot_control main.launch use_arm:=true use_sim:=true teleop:=true use_camera:=true use_base:=true

Start the teleop server in a new terminal

load_pyrobot_env
cd ~/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_control/nodes
python robot_teleop_server.py

Now we can run the teleoperation client (in a new terminal). The screen should display the relevant commands to control the arm.

load_pyrobot_env
cd ~/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_control/nodes
python keyboard_teleop_client.py