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How to generate Rosbags of the UR10 pointing demo in simulation

The rosbags are needed by the vision team to test their software.

Record the rosbags

Be sure you have realsense-ros and realsense_gazebo_plugin installed.

Run the demo

Open several tabs in a terminal, go to directory $DEVEL_DIR/agimus-demos/ur10/pointing and type the following instructions

  1. In terminal 1:
hppcorbaserver
  1. In terminal 2:
ipython -i script_hpp.py
  1. (Optional) In terminal 3:
source /root/setup_ld.sh
gepetto-gui
  1. In terminal 4:
roslaunch ./simulation.launch simulation:=true
  1. In terminal 5:
roslaunch ./demo.launch simulation:=true

Generate the path

  1. In terminal 2:
path_ids, grasp_configs = go()

The paths are in path_ids. If you want to concatenate all the paths into one :

p_id = concat(path_ids)

p_id is then the ID of the global path.

Play the path and record the bags

  1. In terminal 6, start recording the needed topics:
rosbag record --split --size=1024 /camera/color/image_raw /camera/color/camera_info /camera/depth/camera_info /camera/depth/image_rect_raw /tf /tf_static /pose /camera/extrinsics/depth_to_color /camera/aligned_depth_to_color/camera_info /camera/aligned_depth_to_color/image_raw

This will generate rosbags of 1GB each (the --size argumet lets you define the maximum size).

  1. In terminal 7:
rosrun agimus rqt_path_execution

then select path p_id (or the path you want to play) and click execute path. The path will be played very slowly so that Gazebo can keep a reasonnable frame rate.

  1. Stop the recording in terminal 6. The bags are ready.

Replay the rosbags

  1. In terminal 1, launch rviz:
roslaunch /root/catkin_ws/src/agimus-demos/ur10/pointing/rviz_rosbag.launch
  1. In terminal 3, launch roscore:
roscore
  1. In terminal 3, play the bags:
rosbag play --clock my_bag*.bag

to play all the bags starting with "my_bag".