.. _static_use_case:

Exemplary Static Use case
##############################

This exemplary use case shows how the robot detecting an instance of an object pose, i.e.: position
and orientation in space with a 2.5D algorithm and the robot picks it up according to this position and orientation

.. note:: 

    Every component has an option to change the default namespace:
    ``namespace:=<namspace>`` which by default is "ipc".
    
    If specified, the components will only see other components if they have same namespaces.

    Moreover, some components require additional configuration depending on this name, more specifically 
    the existence of a config file ``d415camera<namespace>.xacro``. in ``<installdir>/rvc_dynamic_motion_controller_use_case/cameraurdf/`` directory






The only configuration needed on the robot, is to put the teaching pendant in ``remote control`` as show in following picture

    .. image:: /images/html/setremotecontrol.png
     :alt: Setting pendant to Remote control




.. code-block:: bash

    ros2 launch rvc_static_motion_controller_use_case rviz2_launch.py
    <TODO:>
    ros2 launch rvc_static_motion_controller_use_case static_demo_launch.py robot_ip:=<robot_ip>