This package contains demos for the ee_cart_imped_controller and its wrapper action (ee_cart_imped_action).

Running a Demo at MIT

To run a demo, you must first start the robot so that it acknowledges the controller using the -e argument:

sudo robot start -e

Now make the package

rosmake ee_cart_imped_demos

and launch the ee_cart_imped_action. This stops the default right arm controller, starts the ee_cart_imped_controller, and starts the action server:

roslaunch ee_cart_imped_action ee_cart_imped_action.launch

Now you can run a demo. Since they are simply demos for the controller package, they make very specific assumptions about the location of things relative robot. Namely, to run the drawing demos (draw_square and pr2_write_mit) at MIT, position the robot, table, and paper in accordance with the red tape and lower the robot's torso all the way. Then run

rosrun ee_cart_imped_demos draw_square

or

rosrun ee_cart_imped_demos pr2_write_mit