sawyer-noetic's Introduction

Sawyer-Noetic

Docker setup to use Sawyer robot with ros noetic and moveit

Quick Start Instructions

In the root folder of your cloned repository build and run the image by running:

$ make run-nvidia-sawyer-robot

This should open an rviz window with moveit running and a model of Sawyer

Open another terminal and run the following command to access the bash shell inside the container:

$ docker exec -it sawyer-robot bash

After entering the shell, run the following commands:

$ source /opt/ros/noetic/setup.bash
$ source /root/ros_ws/devel/setup.bash
$ cd ~/ros_ws
$ ./intera.sh

Now you can access all the functionalities of ros-noetic, moveit and intera_interface in this shell.

To use your custom python code on Sawyer robot, put your code in docker/sawyer-robot/docker_code/ folder. There is a mount to this folder inside the container at /root/code/ and any files can be accessed there
To exit the container, type docker stop sawyer-robot in a new terminal.

Utility Code

There is some utility code available in docker/sawyer-robot/docker_code/. The following can be run after navigating to /root/code/ inside the docker container shell,

Run python3 init_pos_moveit.py to set Sawyer in its initial position
Run python3 keyboard_pose_control.py for collision-aware end-effector keyboard control in cartesian coordinates. For joint space keyboard control, intera also has a utility which can be run by rosrun intera_examples joint_position_keyboard.py although this is not collision-aware.
Run python3 camera_show.py to access the camera input

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