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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



Last-modified:2018-06-28 (Thu) 06:28:48 (2548d)
Link: text/ay_tools(2489d)
Site admin: Akihiko Yamaguchi.
Written by: Akihiko Yamaguchi.
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