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This repository has the base scripts for the Niryo-One robot (official docs). It allows us to run a grasping demo in-the-real using the Grasp Detection Library for the grasp generation.
To run the demo the irlab_point_cloud_filtering repo should track the master branch. On the robopaas/rosdocked-kinetic-workspace-included image the repo may be tracking the two_pcl_filtering branch. Please check the local repo's branch and git checkout master if necessary.
Additionally, the files on_robot_calibrate_arm.py, on_robot_learning_mode.py and on_robot_motors_on.py should be copied to the robot and executed there when needed.
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on_robot_calibrate_arm.py: Used to calibrate the arm before using. -
on_robot_learning_mode.py: Used to turn the motors off. -
on_robot_motors_on.py: Used to turn the motors on, otherwise the arm can't execute any trajectories.
The Niryo One Studio can be used to connect to a WiFi network. You can find more information on the Niryo One docs.
Each robot has its own hostname setup, you can find it on a sticker on one side of the robot (format: niryo-x). You should be able to find the robot's IP by running nslookup [*niryo-x*]. At this point, you can edit your /etc/hosts file and add the robot's IP and hostname.
To setup proper ROS communication between the robot and your local machine run export ROS_MASTER_URI=http://**niryo IP or hostname**:11311 and export ROS_IP=**local machine's IP** or export ROS_HOSTNAME=**local machine's hostname**. This has to be done in every new terminal you bring up.
To run move-group on your local machine, run roslaunch niryo_one_bringup robot_commander.launch simulation_mode:=true TODO push edited robot_commander to get rid of potentially confusing argument passing.