opensot_docker

A DockerFile to run the OpenSoT and CartesI/O frameworks.

Build the DockerFile:

Run docker build -t opensot . in the opensot_docker folder.

It takes around 18 minutes to build.

Run the docker image:

Run the script ./run_docker.sh in the opensot_docker folder.

Inside the image terminal run terminator to open a new terminal. You can split this terminal horizontally using the shortcut Ctrl + Shift + o or in vertical using Ctrl + Shift + e.

Examples:

IMPORTANT: right-click on the interactive marker and left-click on Continuous Ctrl thick to enable sending commands to the controlled end-effector while moving the marker.

CartesI/O

• Terminal 1 roscore
• Terminal 2 reset && mon launch cartesian_interface coman.launch

franka_cartesio_config

• terminal 1 roscore
• terminal 2 reset && mon launch franka_cartesio_config cartesian_control.launch

tiago_dual_cartesio_config

• terminal 1 roscore
• terminal 2 reset && mon launch tiago_dual_cartesio_config cartesio.launch

talos_cartesio_config

• terminal 1 roscore
• terminal 2 reset && mon launch talos_cartesio_config cartesio.launch

or

• terminal 1 roscore
• terminal 2 reset && mon launch talos_cartesio_config cartesio.launch stack:=simple_id

Run Python Examples:

The Python examples can be found in /home/forest_ws/src/OpenSoT/bindings/python/examples.

For the IK example using the Panda robot runs:

python panda_ik.py

while for the ID example using the Little Dog robot runs:

python LittleDog_id.py