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pycram:installation [2022/05/12 14:06] – [PyCRAM on Ubuntu 20.04 (ROS Noetic)] jdech | pycram:installation [2022/06/16 08:51] – jdech | ||
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source devel/ | source devel/ | ||
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+ | ===== Using PyCRAM ===== | ||
+ | To start using PyCRAM you first need to launch the ROS launch file. This launchfile is located in the directory " | ||
+ | |||
+ | The launchfile can be started with the following command: | ||
+ | < | ||
+ | roslaunch pycram ik_and_description.launch | ||
+ | </ | ||
+ | |||
+ | What the launch file does is start a ROS master, upload the robot URDF to the parameter server as well as starting the IK solver. | ||
+ | |||
+ | ** Disclaimer ** | ||
+ | At the moment you also need a knowrob node running for PyCRAM to start. This is because while importing packages some will look for the rosprolog services. You don't need a belief state, it only requires the rosprolog services to be reachable. | ||
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+ | |||
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+ | < | ||
+ | <!--- | ||
===== PyCRAM on Ubuntu 18.04 (ROS Melodic) ===== | ===== PyCRAM on Ubuntu 18.04 (ROS Melodic) ===== | ||
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catkin_make -DPYTHON_EXECUTABLE=/ | catkin_make -DPYTHON_EXECUTABLE=/ | ||
</ | </ | ||
+ | --> | ||
+ | </ |