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| pycram:installation [2022/05/13 10:38] – jdech | pycram:installation [2022/06/16 08:51] – jdech | ||
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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 " | ||
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| + | The launchfile can be started with the following command: | ||
| + | < | ||
| + | roslaunch pycram ik_and_description.launch | ||
| + | </ | ||
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| + | 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. | ||
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| + | ** 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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