Interpretive Robot Interface

[tongtybj]

What is this

Implement a general and interpretive robot interface based on python.

Details

• An interpretive interface to control and navigate robot, which is more friendly for beginners
• A general robot module that can supports more effective API to control and navigate using Python and other tools like SMACH.
• More API can be found in aerial_robot_base/src/aerial_robot_base/robot_interface.py

Usage1: Example of mini_quadrotor

• bring-up the real/simulation system

$ roslaunch mini_quadrotor bringup.launch rm:=false sim:=true headless:=false                                                                

• start interpretive operation

$ roscd aerial_robot_base
$ python src/aerial_robot_base/robot_interface.py
[INFO] [1736671477.709432, 216.300000]: connect to /quadrotor!
>>> ri.start()
>>> ri.takeoff()
>>> ri.goPos([1, 0, 2])
[INFO] ....
True
>>> ri.land()

robot_interface_mini_quadrotor_4x.mp4

Usage2: Example of dragon

• bring-up the real/simulation system

$  roslaunch dragon bringup.launch real_machine:=false simulation:=true headless:=false                                                               

• start interpretive operation

$ roscd aerial_robot_base
$ python src/aerial_robot_base/robot_interface.py
[INFO] [1736672881.697054, 56.541000]: connect to /dragon!
>>> ri.start()
>>> ri.takeoff()
>>> ri.setJointAngle(['joint1_pitch'], [-1.57])
True
>>> ri.land()

robot_interface_dragon_4x.mp4

Usage3: Use as a python module

• Use with smach_ros: Handle robots with state machine #656