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digit-jsonapi package

ROS package for using Digit JSON API with AR's PySDK

Prerequisites

  • Ubuntu 18.04 OS
  • Python 3.6 (needed for asyncio, higher versions may cause errors)
  • Install ROS Melodic
  • Open terminal and navigate to catkin_ws
cd release_2021.06.01/catkin_ws/
  • (Optional) Install PySDK and additional packages into virtual environment with pip. Assumes Python 3.6
python3 -m venv name_of_venv
source name_of_venv/bin/activate
python3 -m pip install ../docs/agility-pysdk-0.2.0/agility-0.2.0-py3-none-any.whl
python3 -m pip install pyyaml
python3 -m pip install rospkg

Build

Build catkin workspace from the terminal (catkin_make) or the vscode task located in tasks.json

Running nodes

Source environment with

source devel/setup.bash

Activate virtual environment. For example to use the given virtual environment

source .virtualenvs/digit-venv/bin/activate

Use roslaunch to execute files. Some require arguments to be set on the commandline. Possible values are shown for string arguments

  • action_shutdown.launch
    • args: exp_mode={'sim','real'}
  • action_sit.launch
    • args: exp_mode={'sim','real'}
  • action_stand.launch
    • args: exp_mode={'sim','real'}
  • action_start.launch
    • args: exp_mode={'sim','real'}
  • apply_force.launch
    • args: mx, my, mz, fx, fy, fz, duration
    • all wrench values default to zero. duration defaults to 0.1 seconds
  • query_kinematics.launch
    • args: exp_mode={'sim','real'}
  • set_op_mode.launch
    • args: exp_mode={'sim','real'}, op_mode={'damping','disabled','locomotion','low-level-api'}

Some example roslaunch commands

roslaunch digit_jsonapi action_start.launch exp_mode:='sim'
roslaunch digit_jsonapi set_op_mode.launch exp_mode:='sim' op_mode:='damping'
roslaunch digit_jsonapi query_kinematics.launch exp_mode:='real'

To publish base pose run query_kinematics.launch