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add dynamixel_3dof_arms #164

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add dynamixel_3dof_arms #164

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ayamiya
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@ayamiya ayamiya commented Dec 20, 2016

:go-pos, :go-velocity を使うために、turtlebot-interface-common.lを使いながら、dxl-3dof-arm-interface-common を使えるようにした例です。
ロボットのアームの関節数が変わったとき、あるいは別のロボットがturtlebotに乗ったときは
jsk-ros-pkg/jsk_pr2eus#208
や
#162
を使ってもっと綺麗にかけるといいですね。 @k-okada

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ayamiya commented Dec 20, 2016

使い方：

roslaunch dynamixel_3dof_arm dxl_3dof_armed_turtlebot_bringup.launch 
``
として必要なノードを立ち上げる。
`roscd dynamixel_3dof_arm`
したあと、
roseusを立ち上げ、

$ (load "euslisp/dxl-3dof-armed-turtlebot-interface.l")
$ (dxl-armed-turtlebot-init)

するとは、あとはいつもと同じように `(send *ri* :angle-vector #f(0 0 0) 10000)` や (send *ri* :go-velocity 1 0 0)` が使えるようになる。

@ayamiya
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ayamiya commented Dec 20, 2016

で,kinectを使うときは、
https://github.com/jsk-enshu/robot-programming/pull/164/files#diff-4169b2cc986067c0a6cafab84e2cd138R15
のコメントを外す。

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