Turbot3-ARM入门教程-抓取挑战之多个目标抓取测试

说明

• 本教程介绍在完成前面的建图后如何进行多个目标抓取测试

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Turbot3 SBC] 启动machine tag,Moveit,Navigation和Camera

$ roslaunch turtlebot3_home_service_challenge_tools turtlebot3_home_service_challenge_demo_remote.launch 

• [Remote PC] 运行rviz

$ rosrun rviz rviz -d `rospack find turtlebot3_home_service_challenge_tools`/rviz/tb3_hsc.rviz

• [Remote PC] 运行manager包

$ roslaunch turtlebot3_home_service_challenge_manager manager.launch

• [Remote PC] 任务命令

// Ready : TurtleBot3 will prepare to start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String ready_mission

// Start : TurtleBot3 will start a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String start_mission

// Stop : TurtleBot3 will stop running a mission.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String stop_mission

// Restart : TurtleBot3 will restart a mission by a given scenario.
$ rostopic pub -1 /tb3_hsc/command std_msgs/String restart_mission:SCENARIO_NAME

• [Remote PC] 单独任务步骤测试

//导航
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_start
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_0
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_1
$ rostopic pub -1 /tb3_hsc/command std_msgs/String nav_ar_marker_2

// 机械臂
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_home
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_joint
$ rostopic pub -1 /tb3_hsc/command std_msgs/String arm_task
$ rostopic pub -1 /tb3_hsc/command std_msgs/String open_gripper
$ rostopic pub -1 /tb3_hsc/command std_msgs/String close_gripper

演示视频

• 该视频中的演示是基于一个自定义的场景来进行的

• 但若是基于自己搭建的测试环境,可以通过简单修改scenario.yaml和room.yaml的配置文件来完成抓取挑战