Instruction to run the calibration demo

These instructions are meant to help run the demo in simulation or an a real robot.

In simulation

Open a terminal with several tabs and go into directory ~/catkin_ws/src/agimus-demos/talos/calibration/contact.

1. in terminal 1

roslaunch simulation.launch

The simulation is paused at startup. Click on button play in gazebo window to start it.

2. in terminal 3

hppcorbaserver

3. in terminal 4

ipython -i script_hpp.py

4. in terminal 5

gepetto-gui

5. in terminal 4

v=vf.createViewer()
from agimus_demos.tools_hpp import PathGenerator
pg = PathGenerator(ps,graph)
goToContact(ri, pg, 'talos/left_gripper', 'table/contact_01', initConf)

In the path player of gepetto-gui, you should see three paths ready to be executed.

6. In terminal 2

roslaunch demo.launch simulation:=true

7. in terminal 6

rosrun agimus rqt_path_execution

Select the path to execute and click on "Execute Path".

Record the traces

9. in terminal 7

rostopic pub /hpp/target/position dynamic_graph_bridge_msgs/Vector [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]

10. in terminal 8

rostopic pub /hpp/target/velocity dynamic_graph_bridge_msgs/Vector [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]

11. in terminal 9

rosrun dynamic_graph_bridge run_command

then

from dynamic_graph import factory_get_entity_class_list, get_entity_list

entities = get_entity_list()
cas = list()
for e in entities:
    try:
        cas.append(ContactAdmittance(e))
    except:
        pass

robot.initializeTracer()
robot.tracer.setBufferSize(2**24)
robot.addTrace(cas[0].name, 'contact')
robot.addTrace(cas[0].name, 'error')
robot.addTrace(cas[0].name, 'errorIn')
robot.addTrace(cas[0].name, 'wrench')

robot.startTracer()