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# tesseract_ros_workcell | ||
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![](workcell1.png) | ||
This repo contain two main applications application_positioner and application_rail | ||
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## Application positioner | ||
It can be launched using the following command `roslaunch twc_application application_positioner.launch` | ||
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**Note**: set the argument application to true as follows: | ||
` <arg name="application" default="true" />` | ||
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The application as shown is a robot arm act as a raster for the point in the surface | ||
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![application_positioner](workcell1.png) | ||
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### Overview | ||
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The robot preform two types of motion: | ||
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* Free space motion: `tesseract_planning::PlanInstructionType::FREESPACE` | ||
* Linear motion: `tesseract_planning::PlanInstructionType::LINEAR` | ||
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At the beginning, the robot preform free space motion from the start position to the first point in the path. | ||
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then it perform Linear motion when moving in | ||
a raster segment(a group points next to each other represent one swap or scan of raster). | ||
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then from the end of one raster segment to the beginning of another raster segment. | ||
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At the end of the program it preform a frees pace motion to the starting point(Home position). |