Basic XBotCore Example
After the installation and the configuration of the XBotControl package as described here, a set of ready to use robot model and plugins will be available on your system.
A starting point can be the Centauro robot, whose basic config file can be set in this way:
set_xbot_config /opt/xbot/build/install/share/xbot/configs/CentauroConfig/centauro_basic.yaml
As first thing you should run roscore:
roscore
Later on you can start the XBotCore in "dummy" mode in another terminal (more information here) in this way:
XBotCore -D
In another terminal you can use the RViZ tool to visualize the kinematic simulation of the robot by running:
rviz
and adding a "RobotModel" with the following Robot Description: xbotcore/robot_description Remind to select "world" for "Fixed Frame" in "Global Options".
This should be the visualization:
You are now able to command the HomingExample plugin, which will send a reference to the robot in a similar way as described in here in the XBotControl tutorial.
The plugin is easy to start thanks to a ready to use ROS service:
rosservice call /xbotcore/HomingExample_switch 1
The following command should give you back the message:
success: True
message: ''
And on RViZ you should have the Centauro moving towards required homing configuration:
You are now able to go ahead either with:
- Quick Start: XBotCore simple usage.
or:
XBotControl tutorial:
- Tutorial IROS 2018: Repository with the source code of the XBotControl tutorial (Website available here: Tutorial IROS 2018 Website)