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

Setting pendant to Remote control 
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>