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Note: This tutorial assumes that you have completed the previous tutorials: Starting the Manipulation Pipeline on the PR2 robot, Writing a Simple Pick and Place Application.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

The Pick and Place Keyboard Interface

Description: A simple keyboard interface allowing the user to request the execution of pick and place tasks for the PR2. Written in C++.

Tutorial Level: BEGINNER

The keyboard interface is a simple C++ program used to test the pick and place capability.

Robot Setup

Set up the robot the same way as you would for the Writing a Simple Pick and Place Application tutorial.

Starting the Keyboard Interface

use the following command:

roslaunch pr2_pick_and_place_demos pick_and_place_keyboard_interface.launch

Using the Keyboard Interface

Follow the command line prompt to use the keyboard interface.

Note that a set of commands go through the manipulation pipeline. Others, provided as convenience and debug functions, speak directly to the arm navigation, gripper controller or collision environment modules.

For a list of useful rviz markers to be monitored while running the manipulation pipeline see the Troubleshooting page.


2019-12-07 12:58