- The added line is THIS COLOR.
- The deleted line is THIS COLOR.
[[Tutorial using ROS for ver.3]]
* Execute Cleanup task with HSR [#hsr_cleanup]
** Startup Procedure [#ndf2ca80]
Start the Ubuntu side and then the Windows side.
*** Ubuntu side startup procedure [#qd09b4ab]
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 [#t197903c]
Start the [Assets/SIGVerse/SampleScenes/HSR/HsrCleanup(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
** Run [#v04386d7]
You can operate the HSR key on the teleop_key.launch terminal on Ubuntu side. ~
This sample is a task to grab one of the objects on the desk and carry it somewhere. ~
When "1" is entered, task text is sent from Unity to ROS. ~
When "2" is entered, the human avatar in front indicates the object to be grasped and the destination by pointing. ~
Operate the robot to grasp and carry the object. ~
If the cleanup is successful, "Task Finished" is displayed.
~* Check the terminal for details of the operation.
When exiting, stop the Unity side before exiting the ROS side.
Ubuntu side
#ref(HSRCleanupUbuntu.png)
Windows side
#ref(HSRCleanupWindows.png)