Set-up

-start arms on pendant - Go to initialize -> Init -> On
- (optional) reduce the speed of the arms - Program Robot -> Move -> Use the speed slider at the bottom ~30%
- Open a terminal and split a few windows with tmux

Window 1:
- source /opt/ros/kinetic/setup.bash
- catkin_make
- source devel/setup.bash
- 


Window 2:
- source /opt/ros/kinetic/setup.bash
- source devel/setup.bash
- roslaunch realsense2_camera rs_rgbd.launch
     - if error: No RealSense devices were found! - Plug and unplug the thick usb cable on the PC below - the one with the label RS Blue


Windows 3:
source /opt/ros/kinetic/setup.bash
source devel/setup.bash
rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py
- activate (a) - to activate
- pinch mode (p)
- 107 (112 new; smaller number is less force)
- open the gripper (o)


Windows 4:
source /opt/ros/kinetic/setup.bash
source devel/setup.bash
jupyter notebook

In docs/simple-move-commands.ipynb there are some useful commands to get started



# Check the camera image
rosrun image_view image_view image:=/camera/color/image_raw

# Record some topics into a rosbag
rosbag record /tf /joint_states /camera/depth/camera_info /camera/depth/image_rect_raw /camera/color/camera_info /camera/color/image_raw

# Open and close the gripper of the blue arm
rostopic pub /gripper/cmd robotiq_85_msgs/GripperCmd "{emergency_release: false, emergency_release_dir: 0, stop: false, position: 0.01, speed: 0.05, force: 0.0}"

rostopic pub /gripper/cmd robotiq_85_msgs/GripperCmd "{emergency_release: false, emergency_release_dir: 0, stop: false, position: 0.05, speed: 0.05, force: 0.0}"