Blue Internal Software

This repository contains all of our internal software, which includes things like:

How do I run the teleop demo?

Start the control stack, ie:

# For a full robot (see README in blue_core)
roslaunch blue_bringup full.launch

# For a left arm
roslaunch blue_bringup left.launch

# For a right arm
roslaunch blue_bringup right.launch

# For the simulator (extremely experimental)
roslaunch blue_gazebo blue_world.launch

Start the teleop nodes:

# For a full robot
roslaunch blue_teleop teleop_full.launch

# For a left arm
roslaunch blue_teleop teleop_left.launch

# For a right arm
roslaunch blue_teleop teleop_right.launch

This should start copies of the inverse kinematics node, rviz teleop node, and Vive teleop node.

(rviz teleop) Draggable interactive markers should now appear on the /left_arm/cartesian_pose_teleop and /right_arm/cartesian_pose_teleop namespaces in rviz. Moving these will publish 6DOF pose targets that our IK node will attempt to reach.
(Vive teleop) Nothing more needs to be done on the ROS side to run the VR demo; it's already waiting for connections from the Unity code via rosbridge. To run the Unity side:
1. Open Unity on the VR computer
2. Open the "mind_meld" project
3. Hit the "Play" button at the top of the window
  - Make sure the controllers/headset are on and connected!
4. This can be a little finicky -- double-click the "Play" button in Unity to restart everything if there are issues