Usage of rwt_moveit

Prerequisite

• (as of Nov 2013) Chrome Beta (for WebGL availability). For Android https://play.google.com/store/apps/details?id=com.chrome.beta

Install, getting ready

Install from source

At the time of writing (Aug 2014) source install is the only way of getting the package work (better method is waited for).

1. Get the source.:

$ cd %YOUR_CATKIN_WORKSPACE%/src
$ git clone https://github.com/tork-a/rwt_ros.git
$ git clone https://github.com/tork-a/visualization_rwt

2. Install dependencies of downloaded source.:

$ rosdep install --from-paths src --ignore-src --rosdistro %YOUR_ROS_DISTRO% -y
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y     (example)

3. (This is just a temporary fix and should be removed in the very near future) Build web stuff:

 $ roscd rwt_moveit && make

3-1. For `vs060` robot, as of Sep 22 2014, you might have to do the following BEFORE the commands above (solution discussed `here <https://github.com/tork-a/visualization_rwt/issues/43>`_):

::

  $ sudo mkdir `rospack find vs060`/www
  $ sudo ln -s -T `rospack find vs060`/model `rospack find vs060`/www/model

By now the package should be ready to serve for the robot packages.

At this point, the robot package you’re using needs to be built. From here we take vs060 as an example, which is already built and distributed as DEB package on Ubuntu so that you don’t need to build on your own.

Setting

1. Make sure WebGL is enabaled on your Chrome browser. See chrome://flags/ and WebGL: Hardware accelerated.
2. On Chrome’s flags page (type in URL bar chrome://flags/), enable the followings:

• Enable experimental canvas features

Run, serve for a robot package

Now let’s run rwt_moveit with a robot package, for instance an industrial vertical arm vs060.

1. Install the robot package.

$ apt-get install ros-%YOUR_ROS_DISTRO%-denso

2. On a terminal, run the robot with MoveIt! process.

term-1$ roslaunch %ROBOT%_moveit_config demo_simulation.launch
term-1$ roslaunch vs060_moveit_config demo_simulation_noenvironment.launch    (example with vs060)

3. On another terminal, run rwt_moveit process. Switch the launch file accordingly depending on whether you run the real robot or simulation.

term-2$ roslaunch rwt_moveit demo.launch      (real robot)
term-2$ roslaunch rwt_moveit sim_demo.launch  (simulation)

4. On the web browser, open:

http://%HOSTNAME%:8000/rwt_moveit/
http://localhost:8000/rwt_moveit/

Voila!

Community

• https://github.com/tork-a/rwt_ros
• https://github.com/tork-a/visualization_rwt