commands

Commands

run roscore

roscore

run db manager nodes

roslaunch tms_db_manager tms_db_manager.launch --screen

rosrun tms_db_manager tms_db_writer.py
rosrun tms_db_manager tms_db_reader.py
rosrun tms_db_manager tms_db_publisher.py
rosrun tms_db_manager tms_db_backuper.py

View the B-Sen room in RViz (moveit)

roslaunch rostms_bringup rostms_with_moveit.launch

or

roslaunch rostms_bringup rostms.launch
roslaunch rostms_bringup moveit.launch

View the B-Sen room in RViz

roslaunch rostms_description all_components.launch --screen
roslaunch rostms_description environments.launch --screen
roslaunch rostms_description objects.launch --screen 
roslaunch rostms_description robots.launch --screen 

rosrun tms_db_state_publisher tms_db_state_publisher

or

rosrun joint_state_publisher joint_state_publisher _use_gui:=true

View the 928 room

roslaunch rostms_description environments_928.launch 

Use the Voronoi map

roslaunch tms_rp_voronoi_map voronoi.launch --screen

or

rosrun tms_rp_voronoi_map tms_rp_voronoi_map
rosrun tms_rp_path_planning tms_rp_path_planning

rosservice call /rps_voronoi_path_planning "robot_id: 2003
start_pos: {x: 2.0, y: 4.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}
goal_pos: {x: 8.0, y: 2.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}"

TS

roslaunch tms_ts_ts task_scheduler.launch --screen

or

rosrun tms_ts_ts ts_master
rosrun tms_ts_subtask tms_ts_subtask 
rosrun smach_viewer smach_viewer.py

RC

rosrun tms_rc_smartpal_virtual_control smartpal_virtual_control

Example

rosservice call /tms_ts_master "{rostime: 0, task_id: 8005, robot_id: 2003, object_id: 6015, user_id: 0, place_id: 0, priority: 0}"

• 6005 Kitchen
• 6015 sofa
• 6017 bed
• 6019 shelf

XACRO to URDF

roscd smartpal5_description/urdf
#rosrun xacro xacro.py smartpal5.urdf.xacro > smartpal5.urdf
rosrun xacro xacro --inorder smartpal5.urdf.xacro > smartpal5.urdf
check_urdf smartpal5.urdf | less
urdf_to_graphiz smartpal5.urdf

MoveIt

roslaunch moveit_setup_assistant setup_assistant.launch 

roslaunch smartpal5_moveit_config demo.launch
rosrun moveit_commander moveit_commander_cmdline.py
rosrun smartpal5_arm_navigation moveit_fk_demo.py
rosrun smartpal5_arm_navigation moveit_ik_demo.py
rosrun smartpal5_arm_navigation moveit_constraints_demo.py
rosrun smartpal5_arm_navigation moveit_obstacles_demo.py
rosrun smartpal5_arm_navigation moveit_pick_and_place_demo.py

roslaunch rostms_moveit_config demo_for_rostms.launch
rosrun smartpal5_arm_navigation moveit_fk_demo.py
rosrun smartpal5_arm_navigation moveit_ik_demo_in_changed_pose.py 

View the B-Sen room in Gazebo

roslaunch rostms_gazebo all_components.launch 

rosrun smartpal5_gazebo demo.py

View the SmartPal5 in Gazebo

roslaunch smartpal5_gazebo smartpal_gazebo.launch

View the SmartPal V model

roslaunch smartpal5_description smartpal5_visualization.launch

roslaunch environment_description environment.launch
rosrun tms_rp_voronoi_map tms_rp_voronoi_map
rosrun tms_rp_path_planning tms_rp_path_planning

rosservice call /rps_voronoi_path_planning "robot_id: 2003
start_pos: {x: 2000.0, y: 4000.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}
goal_pos: {x: 8000.0, y: 2000.0, z: 0.0, th: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}"

Prepare to run task

roscore
roslaunch tms_db_manager tms_db_manager.launch
rosrun tms_ss_vicon vicon_stream
roslaunch rostms_bringup rostms_with_moveit.launch
roslaunch tms_rp_voronoi_map voronoi.launch
roslaunch tms_ts_ts task_scheduler.launch

(smartpalV Simulation)
rosrun tms_rc_smartpal_virtual_control smartpal_virtual_control
roslaunch smartpal5_arm_navigation subtask.launch

(smartpalV Real)
rosrun tms_rc_smartpal_control smartpal_control
roslaunch smartpal5_arm_navigation subtask.launch

Run task

send command from Andloid application "tms_ur_commander"

or

rosservice call /tms_ts_master "{rostime: 0, task_id: 8001, robot_id: 2003, object_id: 7004, user_id: 1002, place_id: 0, priority: 0}" 

default value

refrigerator:(7.2,5.65,0.73)

kitchen:(9.3,5.6,0.82)