This section describes the SDK example programs. These example programs are provided as a starting point, demonstrating usage of the Python SDK packages for control of your robot.
Prerequisites
- You have completed all of the Installation instructions for setting up your robot and development machine.
- The development workstation has been connected to the robot and connectivity has been validated.
Running Examples with the SDK
Initialize
$ cd ~/ros_ws
$ ./intera.sh
Run a program!
$ rosrun intera_examples <example_program> [arguments]
Refer to the individual examples below for a complete list of arguments or run it as
$ rosrun intera_examples <example_program> -h
to find the list of arguments.
Clone the SDK Examples
The 'intera_examples' locate under intera_sdk repo, put 'intera_sdk' into your ROS development workspace ( ~/ros_ws/src ). This will allow you to dig into the examples, follow along with the code walkthroughs and base your custom code off of these examples.
$ cd ~/ros_ws/src
$ git clone https://github.com/RethinkRobotics/intera_sdk.git
SDK Example List
Movement
Gripper Example - Joystick and Keyboard control for the gripper.
Gripper Cuff Control Example - Simple cuff-interaction control with Zero-G mode.
Head Movement Example - Simple demo moving the head.
Inverse Kinematics Service Example - Basic use of Inverse Kinematics solver service.
Joint Position Example - Joystick, keyboard control for Sawyer's arm.
Joint Position Waypoint Example - Hand-over-hand teach and recording a number of joint position waypoints. These waypoints will then be played back.
Joint Torque Springs Example - Joint torque control example applying virtual spring torques.
Joint Trajectory Playback Example - Trajectory playback using the joint trajectory interface.
Interaction Control
Set Interaction Options Example - Example script for setting interaction control parameters in the current configuration.
Input and Output
Camera Image Display Example - Example tool for viewing cameras feed of Sawyer robot on development machine.
Head Display Image Example - Example tool for displaying image files (png, jpeg) on the Head Screen.
Lights Blinking Example - Flash the lights on the digital outputs.
