doc_2022-07-12_13-29-47.mp4
1- Install Ubnutu 18.04 with ROS and TIAGO, by following this documentation installation and go to your workspace.
2- clone the repository.
3- put and replace tiago_trajectory_controller package inside /src/tiago_tutorials/
4- put and replace run_motion_python_node.py node inside /src/play_motion/play_motion/scripts/
Do this commands:
source ./devel/setup.bash
roscore
catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
rosparam load tiago_motions.yaml
5 - open, source and run this commands in three terminals :
roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=steel world:=empty
rosrun tiago_tutorials/tiago_trajectory_controller webcam.py
rosrun play_motion run_motion_python_node.py
Professor: Simone Macciò
Students: SINATRA GESUALDO || ABDELGHANI BAKOUR || ZHOUYANG HONG