Test Installation
ay_util/Kinematics Simulation †
Let's launch a kinematic simulation of Mikata arm:
$ roslaunch ay_util mikata_rot_ksim.launch
You will see RViz window. If nothing is shown in rviz,
- Add RobotModel to display the robot.
- Change "Global Options -> Fixed Frame" to "base_link".
Press Ctrl+C to quit.
ay_trick †
Run to execute the kinematic simulation of Mikata arm:
$ roslaunch ay_util mikata_rot_ksim.launch
Then run CUI tool of ay_trick.
$ rosrun ay_trick cui_tool.py
In the CUI tool, type some commands:
trick or quit> robot 'mikatas' trick or quit> moveq 1 Move to q: [1.914316229955623e-06, -0.04694073844180478, 1.0316071071894901, -0.9846663687476853] trick or quit> q [1.9142821433384576e-06, -0.04693990260760159, 1.0315887382303925, -0.9846488356227909]
If the robot in RViz moves, it is correctly installed.
ay_py/Standalone Mikata Arm control †
Although Mikata Arm control is unified with the ROS system where its simulation is available, we can still use it as a standalone program with the core Python library ay_py.
Note: We need Mikata Arm connected with USB (/dev/ttyUSB0).
$ cd ~/ros_ws/ay_tools/ay_py/ $ cd demo/mikata/ (Run programs, e.g.) $ ./move_to.py
If the arm is connected to other port, modify the program as follows: Change the initialization of TMikata as follows (/dev/ttyUSB1 is an example):
mikata= TMikata(dev='/dev/ttyUSB1')
fingervision †
This section is copied from FingerVision/Software/Installation#Test.
With dummy data (no actual FingerVision sensors are necessary):
$ rosrun fingervision stream_file1.sh
Access http://localhost:8080/stream.html and http://localhost:8081/stream.html to see the video streams of dummy data.
This program can be quit by pressing Enter.
Run some standalone programs:
$ cd (fingervision directory) $ cd standalone/ (Just play the video stream) $ ./capture.out fv_3_l.yaml (Marker tracking demo; Press c to calibrate) $ ./blob_tracker2_test.out fv_3_l.yaml (Proximity vision demo) $ ./prox_vision_test.out fv_3_l.yaml
Note: In blob_tracker2_test.out and prox_vision_test.out, the calibration is done automatically at the beginning of the program. Press c to calibrate again. Note that the calibration of blob_tracker2_test.out is not good in this setup since typically we use white background during the calibration.
Press q to quit each program.
Launch FingerVision data processing program (ROS version):
$ roslaunch fingervision fv_3_filtered.launch
You will see four windows. This demo starts fv_core_node for the two video streams. The calibration of the marker tracker is loaded from the files. It also launches a filter to the raw data.
Check the ROS topics (do this in another terminal):
$ rostopic list /fingervision/fv_3_l/blob_moves /fingervision/fv_3_l/prox_vision /fingervision/fv_3_l/wrench /fingervision/fv_3_r/blob_moves /fingervision/fv_3_r/prox_vision /fingervision/fv_3_r/wrench /fingervision/fv_filter1_objinfo /fingervision/fv_filter1_wrench
Echo some of them to see the content of the topic:
$ rostopic echo /fingervision/fv_3_l/wrench
rostopic echo and fingervision fv_3_filtered.launch can be quit by Ctrl+C.
ay_sim †
Launch a pouring simulator with:
$ roslaunch ay_sim ode_grpour_sim1.launch
Play with the keyboard: moving the container (q,w,e,a,s,d,z,x), reset (r).
Use Ctrl+C to quit.