Tutorial using ROS for ver.3

Execute Cleanup task with HSR

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu side startup procedure

Open a new terminal and run the following command:

$ roslaunch sigverse_hsr_teleop_key teleop_key.launch

To start rviz, execute the following command.

$ roslaunch sigverse_hsr_teleop_key teleop_key_with_rviz.launch

Windows startup procedure

Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrCleanup(.unity)] scene with reference to here.

Run

You can control HSR by keyboard operation on the teleop_key.launch terminal.

This example is a task to grasp one of the objects on the desk and carry it somewhere.
When "1" is entered, task message is sent from Unity to ROS.
When "2" is entered, the human avatar will tell you what to grasp and where to carry it by pointing.
Please operate the robot to grasp and carry the target object.
If the cleanup task is successful, "Task Finished" is displayed.

* Check the terminal for details of the operation.

If you want to finish, stop the Unity side and then the ROS side.

Ubuntu side

HSRCleanupUbuntu.png

Windows side

HSRCleanupWindows.png

Reference Video


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Attach file: fileHSRCleanupWindows.png 13 download [Information] fileHSRCleanupUbuntu.png 68 download [Information]

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Last-modified: 2020-05-21 (Thu) 12:15:52 (17d)