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Improve MoveIt Servo tutorial with keyboard teleop instructions. #833

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Improve MoveIt Servo tutorial with keyboard teleop instructions. #833

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Improve MoveIt Servo tutorial with keyboard teleop instructions.
tahsinkose Oct 27, 2024
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Improve MoveIt Servo tutorial with joy teleop instructions.
tahsinkose Nov 3, 2024
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47 changes: 46 additions & 1 deletion doc/realtime_servo/realtime_servo_tutorial.rst
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Expand Up @@ -114,12 +114,57 @@ An `rqt_graph` of the servo node is shown below (Enlarge by clicking it). Most o
.. image:: servo_rqt_graph.png
:width: 700px

Configuring Control Devices (Gamepads, Joysticks, etc)
Configuring Control Devices (Gamepads etc.)
------------------------------------------------------
The ``moveit_servo/config`` folder contains two examples of converting `SpaceNavigator <https://www.3dconnexion.com/spacemouse_compact/en/>`_ 3D mouse commands to servo commands. ``spacenav_teleop_tools.launch`` loads a config file then publishes commands to the servo node on the ``spacenav/joy topic``. It is easy to create your own config file for a particular joystick or gamepad.

``spacenav_cpp.launch`` launches a C++ node that does the same thing but with less latency. We do not plan to accept C++ pull requests for more controller types because there is a lot of overhead involved in supporting them.

Configuring Keyboard as a Control Device
------------------------------------------------------
Assuming you are in ``~/ws_moveit`` folder already, ``cd`` to ``src/universal_robot`` and checkout the latest ``noetic-devel`` branch with ``git checkout noetic-devel``. After this, you should have a ``ur5_moveit_tutorials`` package under ``universal_robot`` folder. Finally:
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I don't see a ur5_moveit_tutorials package here: https://github.com/ros-industrial/universal_robot/tree/noetic-devel

Am I looking in the wrong place?

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Yeah. The package exists on my fork. I also have a PR for that -> ros-industrial/universal_robot#688. Unfortunately there isn't activity since I've created that PR.


Install any new dependencies that may be missing: ::

rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO

Re-build and re-source the workspace. ::

cd ~/ws_moveit/

catkin build

source devel/setup.bash

In Terminal-1, run ::

roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_traj_controller.launch

In Terminal-2, run ::

rosrun ur5_moveit_tutorials keyboard_teleop.py

See the following video for an example usage:

.. raw:: html

<div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
<iframe width="700" height="385" src="https://www.youtube.com/embed/BOcKcjQli3o?si=w0dULrQFJ6G7sIJ9" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
</div>

Configuring Joystick as a Control Device
------------------------------------------------------
As an alternative, you can use a joystick to control the robot. Assuming you have already compiled the workspace and sourced it, simply run. ::

roslaunch ur5_moveit_tutorials ur5_moveit_servo_w_joy.launch

See the following video for an example usage:

.. raw:: html

<div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
<iframe width="700" height="385" src="https://www.youtube.com/embed/aad-QAYJP2c?si=B-kePIpuu0dpc8gq" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
</div>

Integration Testing
-------------------
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