[draft] How to use. This is manual works only for lab's server

To run docker, use following alias

irun

To open a new bash session inside docker use

iexec

It's realy simple to use docker :)

Run real robot with gripper

1. Turn on the UR5e.

   • press "on" button and wait
   • press to the programm ros-control and press open
   • press to an icon on the right-bottom corner and press on->start

2. On the server

irun

roslaunch the_mainest toborn.launch

It runs

• robot driver
• motion-planning-interface
• rviz with preset simple config
• gripper driver

3. Press play button on the pendant of the robot

To use gripper See its repository (just need to call the service /gripper_state with params [0,1,2,3,4,5,6])

To use motion-planning add to rviz motion_planning

Usage

Check next:

1. Network-manager setup

ip 192.168.88.190
mask 255.255.255.0
getway 192.168.88.1
dns 192.168.88.1

2. env variables on the host (find it in ~/.bashrc)

export ROS_HOSTNAME=192.168.88.190
export ROS_IP=192.168.88.190
export ROS_MASTER_URI=http://$ROS_IP:11311

Inside the docker-container for real robot stuff.

0. RUN roscore

1. Open terminal-tab on the host

irun
roslaunch the_mainest born_robot.launch

2. [ROBOT PENDANT]

• load ros_control program
• switch to manual mode (see right top panel)
• turn on robot
• press play

3. Open new-tab on the host

iexec
rosrun msdp pick_and_place

4. Open new-tab on the host

iexec
rosrun msdp add_object_node

5. Open new-tab on the host. Run the camera (reconnect cable please)

iexec
roslaunch the_mainest rs_aligned_depth.launch

6. Open new-tab on the host. Run SYSTEM

iexec
rosrun the_mainest the_mainest_node.py 

and call service to start /start_me.

Inside the docker-container by IVAN

Open a tab

crun
source /ws/devel/setup.bash --extend
roslaunch grasping_vision launch_them_all.launch

cexec
python3 /ws/src/grasping_vision/scripts/command_node.py

data: [ -0.7969973087310791, 0.6039757132530212, 0.0029355052392929792, -0.6026550531387329, -0.7955576181411743, 0.06240931153297424, -0.055372629314661026, -0.10710905492305756, 0.6363226771354675, 0.11999107897281647, 0.06754377484321594, 0.031506557017564774]

rosservice call /js_position_cmd "data: [0.0,-1.57,0.0,-1.57,0.0,0.0]"