Backup diff of (HSR)Cleanup Task(No. 2)

List of Backups
View the diff current.
View the source.
View the backup.
Go to (HSR)Cleanup Task.
- 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)

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. ~
You can operate HSR by operating the keyboard on the terminal of teleop_key.launch 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.
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.

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


Ubuntu side
#ref(HSRCleanupUbuntu.png)

Windows side
#ref(HSRCleanupWindows.png)

Backup diff of (HSR)Cleanup Task (No. 2)