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# init | |
$ mkdir -p ~/catkin_ws/src | |
$ cd ~/catkin_ws/src | |
$ catkin_init_workspace | |
# Launch Gazebo simulator | |
$ cd ~/catkin_ws | |
$ catkin_make | |
$ source devel/setup.bash | |
$ roslaunch simple_arm robot_spawn.launch | |
# Launch ROS core | |
$ roscore | |
# List nodes | |
$ rosnode list | |
# List topics | |
$ rostopic list | |
# List services | |
$ rosservice list | |
# Topic info | |
$ rosropic info /turtle1/cmd_vel | |
# Message info | |
$ rosmsg info geometry_msgs/Twist | |
# Check dependencies | |
$ rosdep check simple_arm | |
# Install missed dependencies | |
$ rosdep install -i simple_arm | |
# Call service | |
$ rosservice call /arm_mover/safe_move "joint_1: 1.57 | |
joint_2: 1.57" | |
# Set service parameter | |
$ rosparam set /arm_mover/max_joint_2_angle 1.57 | |
# Run script | |
$ rosrun simple_arm simple_mover | |
# Run rviz visualization tool (requires roscore) | |
$ rosrun rviz rviz | |
# load the robot description (urdf) into the parameter server and publish transform between all the robot links | |
$ roslaunch kuka_arm load_urdf.launch |
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