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Repository Summary
Checkout URI | https://github.com/tork-a/baxter_app_rpc.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2017-03-21 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
baxter_rpc_msgs | 0.0.0 |
baxter_rpc_server | 0.0.0 |
README
baxter_rpc_server (RPC (Remote Procedure Call)) ROS package
Install
Make sure baxter_rpc_msgs and tork_rpc_util packages are under you catkin workspace and build them by something like:
sudo apt-get install python-catkin-tools python-rosdep python-wstool
mkdir -p ~/cws_rpc/src && cd ~/cws_rpc
wstool init src
wstool merge -t src https://raw.githubusercontent.com/tork-a/baxter_app_rpc/master/.rosinstall
wstool update -t src
rosdep install -r -y --from-paths src --ignore-src
catkin build
source devel/setup.bash
Usage
You simply need to (1) run RPC server and you\'re ready to (2) execute your commands.
Run RPC server
Run RPC server that starts ROS nodes for RPC.
Or run in simulation mode if you\'re not working with a real robot. This starts Gazebo and RViz that use up lots of computer resource.:
roslaunch baxter_rpc_server rpc.launch (Real robot)
roslaunch baxter_rpc_server rpc_sim.launch (simulation)
Execute your command
RPC invocations defined in this package are normal ROS Service (+ some Actions). So call them by the ROS Service manner.
You can get an idea by seeing the sample script on ipython terminal, which can be run as:
ipython -i `rospack find baxter_rpc_server`/script/samplescript_baxter_rpc.py
Tech support
Search existing issues, submit a ticket at GitHub.
Troubleshooting
IK failure with \"[/ExternalTools/left/PositionKinematicsNode/IKService] responded with an error\"
Make sure Gazebo launch is run from a terminal where baxter.sh sim was already run properly.
EoF
CONTRIBUTING
No CONTRIBUTING.md found.
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