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| tutorials:advanced:unreal [2019/08/01 15:33] – cram-pr2-projection->cram-urdf-projection hawkin | tutorials:advanced:unreal [2020/01/13 08:23] – [Prerequisites] adapted the launching procedure to the new launch files. hawkin |
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| === Roslaunch === | === Roslaunch === |
| Launch a ''roscore'' first. Then, in a new terminal for each launch file, launch the bullet_world, json_prolog and roslisp_repl | Launch a ''roscore'' first. Then, in a new terminal for each launch file, launch the simulation and roslisp_repl |
| <code bash> | <code bash> |
| $ roslaunch cram_pr2_pick_place_demo sandbox.launch | $ roslaunch cram_knowrob_vr simulation.launch |
| $ roslaunch json_prolog json_prolog.launch | |
| $ roslisp_repl | $ roslisp_repl |
| </code> | </code> |
| The bullet world is needed for visualization. The json_prolog node allows us to access information in KnowRob from CRAM. | The ''simulation.launch'' includes the json_prolog node which is needed for the communication between KnowRob and CRAM. It also launches the ''bullet world simulation'' and uploads the ''robot description''. This launch file has the following parameters that can be set with its launch. The following are also the default values: |
| | * **upload:=true** uploads the robot description if set to ''true''. Set to ''false'' if the robot description is being uploaded by another node or e.g. the real robot. |
| | * **knowrob:=true** determines if the ''json_prolog'' node should be launched to allow communication with KnowRob. Set to ''false'' if another instance of KnowRob or json_prolog is running already. |
| | * **boxy:=false** determines which robot description should be uploaded and used. The default case ''false'' means that the PR2 description will be used. In case of ''true'', Boxy will be used. |
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| ==== Usage and Code ==== | ==== Usage and Code ==== |
