Backup of (HSR)Cleanup Task (No. 1)

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  • 1 (2019-10-28 (Mon) 17:43:14)
  • 2 (2019-10-28 (Mon) 17:58:17)
  • 3 (2019-10-31 (Thu) 06:27:31)
  • 4 (2019-10-31 (Thu) 20:28:14)
  • 5 (2020-05-18 (Mon) 15:57:19)
  • 6 (2020-05-21 (Thu) 12:15:52)

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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/SampleScenes/HSR/HsrCleanup(.unity)] scene with reference to here.

Run †

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

Windows side

     

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