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tutorials:intermediate:bullet_world [2019/07/08 17:04] – [Moving the robot in the Bullet world] gkazhoya | tutorials:intermediate:bullet_world [2019/07/08 17:17] – [Moving the robot in the Bullet world] gkazhoya | ||
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+ | ==== Using TF in the Bullet world ==== | ||
+ | |||
+ | Per default, the TF listener is not set up in the REPL, when you are working with the Bullet world. | ||
+ | To have it running, we need a TF context. It is possible to create it manually, but to not overcomplicate this tutorial, | ||
+ | we will use the environment provided by the '' | ||
+ | |||
+ | For example, the following does not work (unless you have a real robot running in your ROS ecosystem): | ||
+ | <code lisp> | ||
+ | BTW-TUT> (cl-tf: | ||
+ | </ | ||
+ | and the following does: | ||
+ | <code lisp> | ||
+ | BTW-TUT> (pr2-proj: | ||
+ | | ||
+ | </ | ||
+ | Here, ''" | ||
==== Moving the robot in the Bullet world ==== | ==== Moving the robot in the Bullet world ==== | ||
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</ | </ | ||
+ | < | ||
+ | To execute any plan in CRAM, we need a top-level context. Besides that we also use a macro to specify that the demo should be executed in simulation, not on the real robot. Putting your plan under '' | ||
+ | --></ | ||
- | To execute any plan in CRAM, we need a top-level context. Besides that we also use a macro to specify that the demo should be executed in simulation, not on the real robot. Putting your plan under '' | + | Putting all these together we end up with the following: |
<code lisp> | <code lisp> | ||
BTW-TUT> | BTW-TUT> | ||
(pr2-proj: | (pr2-proj: | ||
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- | | + | (pr2-proj:: |
- | (pr2-proj:: | + | |
(pr2-proj:: | (pr2-proj:: | ||
</ | </ | ||
+ | As some of the functions in '' | ||
+ | |||
We can execute some movements in parallel, if they use different joints of the robot. That's what '' | We can execute some movements in parallel, if they use different joints of the robot. That's what '' | ||