Running the robot

To run the robot, the [[raven_2_control]] and [[raven_2_msgs]] packages must be compiled on the raven computer. See compiling for details.

To launch the robot, run sudo roslaunch raven_2_control raven_2.launch. This launch file starts the robot (r2_control), loads the gains, and initializes the robot visualization model. To use only one arm, use sudo roslaunch raven_2_control raven_2.launch arm:=gold or arm:=green as required. See one-arm operation for details.

For debugging, it's often useful to run r2_control by itself, to avoid the overhead in roslaunch. To do this, first run roslaunch raven_2_control raven_2.init.launch, which loads the gains and initializes the robot visualization model. Leave this running. Then, in a separate terminal, run sudo r2_control to start the robot.

With the robot visualization model loaded, rviz can be used to visualize the robot, inspect the various coordinate frames, view commanded and actual poses, camera images, etc.