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Fetch Simulator

roscore

roslaunch fetch_gazebo playground.launch

Base

rosrun applications keyboard_teleop.py

Gripper

rosrun applications gripper_demo.py open

rosrun applications gripper_demo.py close

Torso

rosrun applications torso_demo.py 0.1

rosrun applications torso_demo.py 0.4

rosrun applications torso_demo.py 0.0

Head

rosrun applications head_demo.py look_at base_link 1 0 0.3

rosrun applications head_demo.py pan_tilt 0 0

Arm

rosrun applications arm_demo.py

Joint States

rosrun applications joint_reader_demo.py

Rviz

rosrun rviz rviz -d /catkin_ws/src/Fetch-ROS-Docker/rviz/default.rviz

Text Markers

rosrun applications marker_text_demo.py

rosrun rviz rviz -d /catkin_ws/src/Fetch-ROS-Docker/rviz/marker.rviz

Path Markers

rosrun applications marker_path_demo.py

rosrun rviz rviz -d /catkin_ws/src/Fetch-ROS-Docker/rviz/marker.rviz

rosrun applications keyboard_teleop.py

Interactive Markers

rosrun applications interactive_marker_demo.py

rosrun rviz rviz -d /catkin_ws/src/Fetch-ROS-Docker/rviz/interactive_marker.rviz

Driving with Odometry

rosrun applications base_demo.py move 0.1

rosrun applications base_demo.py rotate 30

Building a Map

roslaunch applications build_map.launch

rosrun map_server map_saver -f /catkin_ws/src/Fetch-ROS-Docker/maps/playground

Sending navigation goals

roslaunch applications nav_rviz.launch

Saving navigation goals

rosrun map_annotator annotator.py

Cartesian space manipulation

rosrun applications torso_demo.py 0.4

roslaunch fetch_moveit_config move_group.launch

rosrun applications cart_arm_demo.py

Checking for reachability

Check the plan

rosrun applications check_cart_pose.py plan 0.5 0 1

rosrun applications check_cart_pose.py plan 1 0 1

IK

rosrun applications check_cart_pose.py ik 0.5 0 1

Obstacle Avoidance

rosrun rviz rviz -d /catkin_ws/src/Fetch-ROS-Docker/rviz/arm_obstacle_avoidance.rviz

rosrun applications arm_obstacle_demo.py

Transformations

rosrun rviz rviz

rosrun applications transformation_demo.py

Fast IK

roslaunch fetch_api move_group.launch

Pick and Place

roslaunch applications pick_place.launch