this package will run service and send a robot velocity command, should use with iiwa_toolkit MUST run all command one by one as follow:
roslaunch iiwa_toolkit passive_track_gazebo.launch- !!! some time the client node need
roslaunch ds_motion_generator load_test_code.launchto trigger it. don't know why//// roslaunch boustrophedon_server boustrophedon_server.launch- use this begin point
rosrun test_boustrophedon_with_robot test_boustrophedon_with_robot_node
the code for begin point
rostopic pub -r 10 /initialpose geometry_msgs/PoseWithCovarianceStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: 'map'
pose:
pose:
position:
x: 0.9
y: 0.0
z: 0.5
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"