Installation

1. To copy this project run

git clone https://github.com/red-itmo/red_manipulation_step.git

2. Place "matrix" library to /usr/include (https://github.com/PX4/Matrix)

3. run catkin_make

How to run?

To start trajectory test run

roslaunch arm_manipulation trajectory_test.launch

Node goToIntAndRelax

Start node

rosrun arm_manipulation goToInitAndRelax

To turn off and go to initial position and/or turn on motors run

rosservice call /arm_manipulation/switchOffMotors
rosservice call /arm_manipulation/switchOnMotors

Node start_manipulation

Start

roslaunch arm_manipulation start_manipulation.launch

To move gripper to some position or to move from one point to another run

rosservice call /manipulator_pose
rosservice call /MoveLine