Commit 135122f6 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[tutorials] Fix getting started.

parent 7784556e
......@@ -129,6 +129,7 @@ def launchScript(code,title,description = ""):
rospy.loginfo("...done with "+title)
```
This script is loading a python file which will be send to the embedded python interpreter of the SoT.
It is waiting the user to hit the enter key after display the python file to be loaded.
```python
# Waiting for services
......@@ -143,8 +144,8 @@ try:
```
This part of the script waits that the services provided by SoT-ROS interface become available:
<ul>
<li>**run_command which** is the service to send python commands.</li>
<li>**start_dynamic_graph** is the service to start the control of the robot.</li>
<li> <b>run_command which</b> is the service to send python commands.</li>
<li> <b>start_dynamic_graph</b> is the service to start the control of the robot.</li>
</ul>
......@@ -169,12 +170,20 @@ The last line is sending the script appli.py to the interpreter on the robot.
```python
raw_input("Wait before starting the dynamic graph")
```
This line prints the string and waits for the user to hit enter
```python
runCommandStartDynamicGraph()
```
The last line starts to apply the control law to the robot and evaluate the whole SoT control graph.
```
```python
raw_input("Wait before moving the hand")
```
This line prints the string and waits for the user to hit enter
```python
runCommandClient("target = (0.5,-0.2,1.0)")
runCommandClient("gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))")
runCommandClient("sot.push(taskRH.task.name)")
......
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