= Teach & Play Demo - Single Arm = == Overview == The Teach & Play program runs the following processes: - `client` - connects to the robot - `position_controller` - generates, records, plays, and pauses trajectories and runs a position control loop. - `rviz` - `keyboard` == Launching == To run teach and play, open a terminal and run the command the corresponds to the robot you're using: ==== For the right-handed robot ==== `bash roslaunch proficio_client_ros teach_and_play_demo.launch side:=right` ==== For the left-handed robot ==== `bash roslaunch proficio_client_ros teach_and_play_demo.launch side:=left` If you are not familiar with linux, see https://help.ubuntu.com/stable/ubuntu-help/. If you have not used ROS before, see http://wiki.ros.org/ for more information on how this works When you run this command, you will see status messages scroll on the terminal, and then it will launch two additional windows -- a small black keypress window and an Rviz window. See http://wiki.ros.org/rviz for information on how to use Rviz. === Troubleshooting: === If you see `Status [unset]`, the robot has not connected properly. Try using the other side. == Usage == In order to control the robot, put window focus on the keypress capture window by clicking on it. First, ensure that the robot is in home position, then press `h` to home the robot in software. when you are ready, press `e` to enable the robot. You will hear the motors turn on, and the robot will begin providing gravity assistance. The following keys will control the robot: === Key Mapping === || '''Key''' || '''Description''' || || h || Home the robot || || e || Enable Torque || || d || Disable Torque || || r || Start recording trajectory || || s || Stop recording trajectory || || p || Play trajectory || || o || Pause trajectory || || q || Create Square Trajectory || || CTRL+c || Close program || === Example === To run a teach and play, once the robot is enabled, you would: * Press `r` to start recording * Move the robot smoothly and slowly in the desired trajectory * Press `s` to stop recording * Press `p` to play the trajectory back. The trajectory will go forward and backward in the path you created. It will run until stopped * Press `o` when you are done playing the trajectory. * Press `ctrl+c` to close the program