13. Look Away: Launch and Interact
Look Away: Launch and Interact
You can now launch and interact with
simple_arm
just as before:
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch simple_arm robot_spawn.launch
Please note that if you are having trouble with roslaunch simple_arm robot_spawn.launch please try the safe_spawner.sh script in the scripts folder. You can launch by using $ ./safe_spawner.sh in a terminal of your choice.
After launching, the arm should move away from the grey sky and look towards the blocks. To view the camera image stream, you can use the same command as before:
$ rqt_image_view /rgb_camera/image_raw
To check that everything is working as expected, open a new terminal, source
devel/setup.bash
, and send a service call to point the arm directly up towards the sky (note that the line break in the message is necessary):
rosservice call /arm_mover/safe_move "joint_1: 0
joint_2: 0"
What happens?
Look Away service call results
SOLUTION:
- The arm moves to point towards the sky.
- The arm moves back to pointing towards the blocks.