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raven_ros_basics

A simple example demonstrating ROS control of the Raven II surgical robot.

Requirements

Tested on ROS Kinetic and Ubuntu 16.X. Also works from Bash for Windows.

Installation

  1. Clone this repo into your Raven II workspace. It should be a peer directory to the raven_2 repo.
> cd ros_workspace/src
> ll
raven_2
> git clone https://github.com/aaronsnoswell/raven_ros_basics.git
  1. Build your workspace
> cd ..
> pwd
/Users/aaron/ros_workspace
> catkin_make
  1. Important: Re-source your workspace

Without this, python won't be able to see the raven_2 package

> source devel/setup.bash

You should now be able to see the raven_2 package from python;

> python
Python 2.7.12 (default, Dec  4 2017, 14:50:18)
[GCC 5.4.0 20160609] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import raven_2
>>>
  1. Make the python script(s) executable
> cd raven_ros_basics/scripts
> chmod +x *.py

Usage

Command the Raven from a C++ node

roslaunch ros_raven_basics cpp_talker.launch

Command the Raven from a Python node

roslaunch ros_raven_basics py_talker.launch