Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Next revisionBoth sides next revision
pycram:installation [2022/05/13 10:38] – jdechpycram:installation [2022/08/26 09:43] – jdech
Line 41: Line 41:
 cd <Path to your ROS workspace> cd <Path to your ROS workspace>
 cd src/ cd src/
-vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram.rosinstall+vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram.rosinstall --recursive 
 +rosdep update 
 +rosdep install --ignore-src --from-paths . -r 
 +cd .. 
 +catkin_make
 </code> </code>
  
Line 82: Line 86:
 source devel/local_setup.bash source devel/local_setup.bash
 </code>  </code> 
 +
 +===== Using PyCRAM =====
 +To start using PyCRAM you first need to launch the ROS launch file. This launchfile is located in the directory "launch" and is named "ik_and_description.launch". 
 +
 +The launchfile can be started with the following command:
 +<code>
 +roslaunch pycram ik_and_description.launch
 +</code>
 +
 +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.
 +
 +
  
 <html>  <html>