Sepphod / RoboND-simple_arm

RoboND Refresh mini-project to explain pub-sub architecture in ROS

RoboND-simple_arm

A mini-project to better explain pub-sub architecture in ROS

How to Launch the simulation?

Create a catkin_ws, feel free to skip if you already have one!

$ cd /home/workspace/
$ mkdir -p /home/workspace/catkin_ws/src/
$ cd catkin_ws/src/
$ catkin_init_workspace
$ cd ..

Clone the package in catkin_ws/src/

$ cd /home/workspace/catkin_ws/src/
$ git clone https://github.com/udacity/RoboND-simple_arm.git simple_arm

Build the simple_arm package

$ cd /home/workspace/catkin_ws/ 
$ catkin_make

After building the package, source your environment

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash

Make sure to check and install any missing dependencies

$ rosdep install -i simple_arm

Once the simple_arm package has been built, you can launch the simulation environment using

$ roslaunch simple_arm robot_spawn.launch

Interact with the arm using the safe_move service

Open a new terminal and type the following:

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ rosservice call /arm_mover/safe_move 0.0 0.0

How to view image stream from the camera?

Camera image stream is published to the following topic:

/rgb_camera/image_raw

This stream can be viewed by following command in separate terminal:

$ rosrun image_view image_view image:=/rgb_camera/image_raw

Simulation Interface: