Motoman

Abstract 概要

Running Motoman from ay_trick.

Memo †

Start the System †

1. Turn on the Robotiq gripper.
2. Turn on the Motoman Control Box.
3. On the Control PC,
   $ roslaunch ay_util motomansia10f_real.launch
4. $ rviz
5. Calibrate Robotiq gripper. Run until the gripper moves:
   $ rosrun ay_util rqnb_calib.py
6. Activate Motoman:
   $ rosrun ay_util moto_enable.py
7. Run CUITool:
   $ rosrun ay_trick cui_tool.py
8. Setup the connection:
   Motoman:> robot 'moto'

Exit the System †

1. Quit CUITool
2. Deactivate Motoman:
   $ rosrun ay_util moto_disable.py
3. Kill RViz (Ctrl+C)
4. Kill motomansia10f_real.launch (Ctrl+C)
5. Turn off the Motoman Control Box
6. Turn off the Robotiq
7. Log out from the Control PC