code.md

Client Planner Python Implementation

Planner creation

Open a terminal inside scripts folder and create a file name jplanner.py. Copy the content from jplanner.txt and paste. Open a terminal in the same location and Run

chmod +x jplanner.py

to enable execute permission.

Client creation

Open a terminal inside scripts folder and create a file name jclient.py. Copy the content from jclient.txt and paste. Open a terminal in the same location and Run

chmod +x jclient.py

to enable execute permission.

CMakeLists.txt file modifications

Open lab_6_jointTrajectoryPlanner/CMakeLists.txt and add following lines to the bottom of the file.

catkin_install_python(PROGRAMS scripts/jplanner.py scripts/jclient.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Build the code

Go to root of the workspace

cd ~/robotics/

catkin build

or

catkin_make

Simulate

First open a terminal window, move to robotics folder, source the devel/setup.bash and start the gazebo simulation

cd robotics

source devel/setup.bash

roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch

Start the simulation by pressing the "play" button in the lower part of the screen.

Then open another terminal window, move to robotics folder, source the devel/setup.bash and start the gazebo controller

cd robotics

source devel/setup.bash

roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false

Then open another terminal window, move to robotics folder, source the devel/setup.bash and start the JointSpaceControllerServer

cd ~/robotics/

source devel/setup.bash

rosrun lab_6_jointTrajectoryPlanner jplanner.py

Then open another terminal window, move to robotics folder, source the devel/setup.bash and start the JointSpaceControllerClient

cd ~/robotics/

source devel/setup.bash

rosrun lab_6_jointTrajectoryPlanner jclient.py

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