Sign in to follow this  
jorgegalds_DON

Teleoperation on cartesian coordinates

Recommended Posts

Hello everyone,

 

So I wanted to basically join the functions of the scripts joint_position_joystick.py and go_to_cartesian_pose.py

I want to teleoperate the robot using a cartesian coordinate system and not joint by joint.

 

I don't know if anyone has had previous experience developing such a controller but all tips and suggestions are greatly appreciated.

At the moment my question is: can one use the rospy.init_node() for 2 different nodes in the same python script? As each file has a node to make them work (one with the joystick capabilities and the other establishing the cartesian coordinate system)

 

Thanks in before hand.

Sincerely,

Jorge

Share this post


Link to post
Share on other sites

Hi Jorgegalds_DON,

Although a bit late, here is a python script that allow you to move the robot +-x, +-y or +-z (so cartesian coordinate) using the keyboard.
You just did that to get familiar with thnode_sawyer.pye Intera SDK, so it might have some bugs but it worked up to now. It is basicaly adapting the two example and fusing them into one node.

Hope this can help,

Best

Share this post


Link to post
Share on other sites

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account

Sign up for a new account in our community. It's easy!

Register a new account

Sign in

Already have an account? Sign in here.

Sign In Now
Sign in to follow this