From: Alexandros Lioulemes Date: Fri, 23 Aug 2019 14:22:13 +0000 (-0400) Subject: Added instructions X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=b74ab38779e12e59a2ed1b658a9f556441da172f;p=barrett-ros-pkg.git Added instructions --- diff --git a/README.md b/README.md index a39ab53..eeb2706 100644 --- a/README.md +++ b/README.md @@ -3,9 +3,51 @@ ## Overview This is Barrett Technology's ROS repository wrapping Libbarrett's functionalities. Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-282 BarrettHand. +- The wam_robot stack is designed to be run on a WAM PC-104 or external control PC. +- The wam_common stack is designed as the interface to communicate with the +functionality exposed by the wam_node. ### Pre-Requisites This ROS repository requires: - An installed version of Libbarrett. To check out the latest version of Libbarrett: https://git.barrett.com/software/libbarrett - [ROS Indigo] on Ubuntu 14.04 (http://wiki.ros.org/indigo/Installation/Ubuntu). +### Compile and execute package +``` +rosmake wam_robot +``` + +``` +roslaunch wam_node wam_node.launch +``` + +### Running the services +Move BHand finger 2. +``` +rosservice call /bhand/finger_pos "radians: +- 0.0 +- 0.5 +- 0.0" +``` + +Move WAM joints +``` +rosservice call /wam/joint_move "joints: +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0 +- 0.0" +``` + +Hold Joint Position +``` +rosservice call /wam/hold_joint_pos "hold: true" +``` + +Unhold Joint Position +``` +rosservice call /wam/hold_joint_pos "hold: false" +```