dsr_launcher
Feature
- Configure various robot environment through dsr_launcher.
- The user can build Single Robot, Multi Robot, Gripper, mobile environment according to Paramater.
- Multi Robot configuration is an extension of Single Robot configuration. This is an example of 2 robots of Multi Robot configuration basically provided in this package. Please modify the dsr_launcher / multi-robot * .launch files to the appropriate configuration for your environment. (ns, host, port, model, etc. should be corrected correctly.)
- After loading dsr_launcher, run dsr_example for each environment with rosrun.
(For details, see Chapter 6, dsr_example.)
Parameter
| Parameter Name | Data type | Default Value | Description |
|---|---|---|---|
ns | - | dsr01 | ROBOT name space . single robot : dsr01 . multi robot: dsr01, dsr02, dsr03, dsr04 … |
host | - | 127.0.0.1 | Robot controller IP . Emulator : 127.0.0.1 . Real robot controller : 192.168.127.100 |
port | - | 12345 | port |
mode | - | virtual | Robot operation mode - virtual : virtual mode - real : real mode |
model | - | m1013 | M-Series Robot model . m0609, m0617, m1013, m1509 A-Series Robot model . a0509 |
color | - | white | Robot color . white or blue |
gripper | - | none | using gripper or not . none : not use gripper . robotiq_2f : use robotiq 2finger gripper |
mobile | - | none | using mobile robot or not . none : not use mobile robot . husky : use husky mobile robot |
Examples
BASH
<single robot>
- rviz, virtual mode, m1013(white)
$ roslaunch dsr_launcher single_robot_rviz.launch mode:=virtual model:=m1013
- gazebo, real mode, m1013(blue)
$ roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.127.100 port:= 12345 mode:=real color:=bule
- rviz + gazebo, real mode, m1013(white)
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch host:=192.168.127.100 port:= 12345 mode:=real
- + gripper
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f
- + mobile
$ roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky
<multi robot>
- rviz, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_rviz.launch
- gazebo, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_gazebo.launch
- rviz + gazebo, virtual mode, m1013 x 2
$ roslaunch dsr_launcher multi_robot_rviz_gazebo.launch