openrr_apps_robot_command
The openrr_apps_robot_command allows you to send several commands to the robot.
openrr_apps_robot_command [OPTIONS] [SUBCOMMAND]
| Options | Description |
|---|---|
| -c, --config-path <CONFIG_PATH> | Path to the setting file |
| --config <CONFIG> | Set options from command line. These settings take priority over the setting file specified by --config-path |
| -h, --help | Print help information |
| -i, --interactive | Use interactive mode |
| --log-directory <LOG_DIRECTORY> | Path to log directory for tracing FileAppender |
| --show-default-config | Prints the default setting as TOML |
| Subcommands | Description |
|---|---|
| cancel_navigation_goal | Cancel navigation goal |
| execute_command | Execute an external command |
| get_navigation_current_pose | Get navigation current pose |
| get_state | Get joint positions and end pose if applicable |
| help | Print this message or the help of the given subcommand(s) |
| list | List available clients |
| load_commands | Load commands from file and execute them |
| move_ik | Move with ik Usage of move_ik |
| send_base_velocity | Send base velocity Usage of send_base_velocity |
| send_joints | Send joint positions Usage of send_joints |
| send_joints_pose | Send predefined joint positions Usage of send_joints_pose |
| send_navigation_goal | Send navigation goal pose Usage of send_navigation_goal |
| shell_completion | Shell completion Usage of shell_completion |
| speak | Speak text message |
Example
Start the robot on the simulator.
urdf-viz ./openrr-planner/sample.urdf &
After that, load robot command.
openrr_apps_robot_command --config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml load_commands ./openrr-apps/command/sample_cmd_urdf_viz.txt
Example (--config)
Let's add a --config argument to the previous example. You can watch it run on urdf-viz, but for simplicity I have changed load_commands to list.
urdf-viz ./openrr-planner/sample.urdf &
openrr_apps_robot_command \
--config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
list
If you run it without doing anything first, you will get output like the first half of the previous section.
Raw joint trajectory clients
r_arm
l_arm
Joint trajectory clients
r_arm
r_arm_ik
l_arm_collision_checked
l_arm_ik
r_arm_collision_checked
l_arm
Collision check clients
l_arm_collision_checked
r_arm_collision_checked
Ik clients
r_arm_ik
l_arm_ik
The --config argument can override the contents of --config-path.
urdf-viz ./openrr-planner/sample.urdf &
openrr_apps_robot_command \
--config-path ./openrr-apps/config/sample_robot_client_config_for_urdf_viz.toml \
--config openrr_clients_config.ik_clients_configs[0].name=\"user_defined_ik\" \
list
When this command is executed, the output is as follows
Raw joint trajectory clients
l_arm
r_arm
Joint trajectory clients
l_arm
r_arm_collision_checked
l_arm_collision_checked
r_arm
r_arm_ik
user_defined_ik
Collision check clients
r_arm_collision_checked
l_arm_collision_checked
Ik clients
r_arm_ik
user_defined_ik
The IK client name for the left arm has been changed to user_defined_ik. Of course this can also be accomplished by directly rewriting the toml file.
If you want to run it as load_commands, you need to change l_arm_ik to user_defined_ik in openrr-apps/command/sample_cmd_urdf_viz.txt.
Usage of move_ik
openrr_apps_robot_command move_ik [OPTIONS] <NAME>
Name
IK client name
Option
| Options | Description |
|---|---|
| -d, --duration | |
| -h, --help | Print help information |
| -i, --interpolate | Interpolate target in cartesian space |
| -l, --local | |
| --max_resolution_for_interpolation <MAX_RESOLUTION_FOR_INTERPOLATION> | Max resolution for interpolation (default 0.5) |
| --min_number_of_points_for_interpolation <MIN_NUMBER_OF_POINTS_FOR_INTERPOLATION> | Min number of points for interpolation (default 10) |
| -r, --roll | Target roll |
| -p, --pitch | Target pitch |
| --yaw | Target yaw |
| -x, --x | Target x coordinate |
| -y, --y | Target y coordinate |
| -z, --z | Target z coordinate |
Usage of send_base_velocity
openrr_apps_robot_command send_base_velocity [OPTIONS] <X> <Y> <THETA>
X
Velocity in y direction
Y
Velocity in y direction
Theta
Angular velocity
| Options | Description |
|---|---|
| -d, --duration_secs <DURATION_SECS> | |
| -h, --help | Print help information |
Usage send_joints
openrr_apps_robot_command send_joints [OPTIONS] <NAME>
Name
Client name
Option
| Options | Description |
|---|---|
| -d, --duration | |
| -h, --help | Print help information |
| -i, --interpolate | Interpolate target in cartesian space. If you use this flag, joint values are not used as references but used in forward kinematics |
| -j, --joint | Specify joint parameters. Like --joint 0=1.2. In accordance with the sequence in which the "joint names" are defined in the configuration, they are numbered starting at 0 |
| --max_resolution_for_interpolation <MAX_RESOLUTION_FOR_INTERPOLATION> | Max resolution for interpolation (default 0.05) |
| --min_number_of_points_for_interpolation <MIN_NUMBER_OF_POINTS_FOR_INTERPOLATION> | in number of points for interpolation(default 10) |
Usage of send_joints_pose
openrr_apps_robot_command send_joints_pose [OPTIONS] <NAME> <POSE_NAME>
Name
Client name
Pose name
Pose name
Option
| Options | Description |
|---|---|
| -d, --duration | |
| -h, --help | Print help information |
Usage of send_navigation_goal
openrr_apps_robot_command send_navigation_goal [OPTIONS] <X> <Y> <YAW>
Option
| Options | Description |
|---|---|
| -f, --frame_id <FRAME_ID> | |
| -h, --help | Print help information |
| -t, --timeout_secs <TIMEOUT_SECS> | Timeout second |
Usage of shell_completion
openrr_apps_robot_command shell_completion <SUBCOMMAND>
Subcommand
| Subcommand | Description |
|---|---|
| bash | |
| fish | |
| help | Print this message or the help of the given subcommand(s) |
| power_shell | |
| zsh |