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21 lines
1.6 KiB
Markdown
21 lines
1.6 KiB
Markdown
## Middleware examples
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In this folder, you will have simple examples on how to use the ROS middleware with PyRoboLearn. Once this middleware
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is instantiated, it is passed to the simulator that uses it to publish or subscribe to topics/services to get the
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various joint states, sensor values, etc. The ROS middleware can then later be used to launch ROS nodes and other
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ROS features. The ROS middleware can also be useful to get the data from a real robotic platform or to send some
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joint trajectories to it.
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Here are the few examples that you can find in this folder:
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1. `bullet_ros_control_gazebo.py`: After running the corresponding roslaunch file (see file documentation), you will
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be able to teleoperate a manipulator (rrbot, kuka, or franka emika panda) in Gazebo by moving the same robot in
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PyBullet. The robots that are instantiated in Gazebo use position control (by using `ros_control`). A simple video
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demonstrating the results can be found here: https://www.youtube.com/watch?v=OPh-NCfKKK8
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2. `bullet_ros_rqt.py`: this will launch RQT along PRL.
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3. `bullet_ros_publisher.py`: example where we use ROS to publish the joint position values that were returned by
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the Bullet simulator on the corresponding ROS topic.
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4. `bullet_ros_subscriber.py`: example where we use ROS to get the joint values from the ROS topics and change them
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in the simulator. This works with the `bullet_ros_publisher.py` code presented above. By moving the robot with your
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mouse in the publisher version, you will see the robot in this subscriber version moving accordingly. This can be
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useful if you have access to the real platform as well.
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