Using Real Robot Data in Warehouse Scene Planning
Hello all,
First off, I am having a successful time working with all the ROS tutorials for my robot. It's great to have all this support from an online community :)
So far for my robot, I have created a URDF file, ran the planning wizard and created a launch file to be used in Warehouse Viewer for my robot. I have done most of the tutorials in Warehouse Viewer and now I would like to use my real-time robot data as the inputs for Warehouse Viewer.
However, I do not know where to start from here. The tutorial informs me of this warning:
Warning: Do not check "Use Robot Data" while the Execute Left Trajectory and Execute Right Trajectory services are not being advertised. Make sure they are running by invoking rosservice. Otherwise, the viewer will hang on startup while waiting for these (or any other) services.
As for my hardware, I am publishing motor encoder data (position and velocity) under topics /The_H20_Player/drrobot_motor_left and /The_H20_Player/drrobot_motor_right at 10Hz.
I would like to somehow use this data as the inputs for Warehouse Viewer. Does anyone know I can do this? Moreover, how should I structure the encoder data? Right now I just have it as an array of ints.
Thank you to everyone at answers.ros.org!
Kind Regards, Martin