YarpOpenraveControlBoard

YarpOpenraveControlBoard

First open a:

yarp server

Note on Invocation

These examples use the yarpdev executable to load YarpOpenraveControlBoard directly. However, you can find more interesting examples loading YarpOpenraveControlBoard via OpenraveYarpPluginLoader at ../../OpenravePlugins/OpenraveYarpPluginLoader#yarpopenravecontrolboard.

Example 1

Open YarpOpenraveControlBoard device with data/lab1.env.xml environment, view, apply to robot index 0 and manipulator index 0 (name and view are required):

yarpdev --device YarpOpenraveControlBoard --env data/lab1.env.xml --robotIndex 0 --manipulatorIndex 0 --name /BarrettWAM/arm --view

Then communicate via:

yarp rpc /BarrettWAM/arm/rpc:i

For instance:

set pos 1 45

Example 2

We can also load environments with our favorite heroes, such as:

# Requires [teo-openrave-models](https://github.com/roboticslab-uc3m/teo-openrave-models)
yarpdev --device YarpOpenraveControlBoard --env openrave/teo/teo.robot.xml --robotIndex 0 --manipulatorIndex 2 --name /teoSim/rightArm --view

Then communicate via:

yarp rpc /teoSim/rightArm/rpc:i

For instance:

set pos 0 -45