RCTA Manipulation is a set of catkin packages compatible with the ROS Indigo distribution on Ubuntu 14.04 that provide planning capabilities for manipulation on RCTA robotic platforms.
Set up a catkin workspace as instructed in the ROS tutorials or
determine an existing catkin workspace to host the rcta_manipulation packages.
Source dependencies are listed in rcta_manipulation/rcta.rosinstall and may
be downloaded simultaneously via wstool. Alternatively,
you can manually clone all the packages listed in that file and place them
alongside the rcta_manipulation package in your catkin workspace.
System dependencies may be installed using rosdep. At the root of the workspace, executing the following command will prompt to install all required system dependencies:
rosdep install --from-paths rcta_manipulation -i -yThe recommended way to build the packages in this repository is to use the
catkin from the python-catkin-tools package. A workspace containing these
packages may be built using the catkin build command.
There are multiple GNU screen configuration scripts in the roman_manipulation
package for running the system under a few configurations. The system can be
run under any configuration using rosrun. For example,
rosrun roman_manipulation screenrc_fakewill run the complete system with an offline (fake) simulation of the RoMan robot.
Executing a configuration script will start a screen session with tabs preloaded with the required commands. Launch the system by executing the command within each tab. Note that the default screen accelerator key C-a is modified to C-x. Ctrl + the arrow keys can be used to cycle through tabs.