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Merge pull request #19 from hello-robot/docs/jogging
WIP: Quick docs on jogging motion commands
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# Motion Commands in ROS2 | ||
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## Quickstart | ||
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Sending motion commands is as easy as: | ||
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1. Launch the ROS2 driver in a terminal: | ||
```{.bash .shell-prompt .copy} | ||
ros2 launch stretch_core stretch_driver.launch.py | ||
``` | ||
2. Open iPython and type the following code, one line at a time: | ||
```python | ||
import hello_helpers.hello_misc as hm | ||
node = hm.HelloNode.quick_create('temp') | ||
node.move_to_pose({'joint_lift': 0.4}, blocking=True) | ||
node.move_to_pose({'joint_wrist_yaw': 0.0, 'joint_wrist_roll': 0.0}, blocking=True) | ||
``` | ||
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## Writing a node | ||
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You can also write a ROS2 node to send motion commands: | ||
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```python | ||
import hello_helpers.hello_misc as hm | ||
class MyNode(hm.HelloNode): | ||
def __init__(self): | ||
hm.HelloNode.__init__(self) | ||
def main(self): | ||
hm.HelloNode.main(self, 'my_node', 'my_node', wait_for_first_pointcloud=False) | ||
# my_node's main logic goes here | ||
self.move_to_pose({'joint_lift': 0.6}, blocking=True) | ||
self.move_to_pose({'joint_wrist_yaw': -1.0, 'joint_wrist_pitch': -1.0}, blocking=True) | ||
node = MyNode() | ||
node.main() | ||
``` | ||
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Copy the above into a file called "example.py" and run it using: | ||
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```{.bash .shell-prompt .copy} | ||
python3 example.py | ||
``` |