uw-biorobotics / crtk-cpp

C++ programs written for testing and demonstration of the CRTK API.

crtk-cpp

Build instructions:

1. Run this first:

   catkin_make --pkg crtk_msgs

2. Then run this:

   catkin_make

Run instructions:

1. make sure the package is built without error
2. Load parameters from the robot roslaunch file.
3. List the parameters:

   rosparam list

4. Make sure parameters: num_joints, home_pos, home_quat, home_jpos and grasper_name are all on the list and under the robot namespace.
5. Run the test with rosrun and a r_space rosparameter specifying the robot namespace. For instance,

   rosrun crtk_test_servo_jp crtk_test_servo_jp _r_space:=arm1