Robot Programming

Robot programming

Useful terminal commands in ROS:

• rqt to view the ROS graph of the robot and different camera inputs such as '/camera_forward/rgb/image_raw ', '/camera_down/rgb/image_raw', '/camera/rgb/image_raw', '/base_scan', '/scan_obstacles', '/scan_slam' .

• roslaunch ps3_kuka_teleop teleop.launch to control the robot with a ps3 controller connected with usb to your laptop. (Note that, we experienced that internet connection results in shocks in the movement of the robot. We ended up controlling the robot from the ROS computer on the robot.)

• roslaunch ros_openpose run.launch camera:=nodepth to run openpose on ROS (make sure to adjust the camera input (kinect or RealSense in the Launch file)).