.. quickstart_on_moveit.rst

Quickstart on MoveIt!
=====================
----------
Quickstart
----------
#. Preparation

   Open a new terminal::

     $ source ~/catkin_ws/devel/setup.bash

#. Start RViz and MoveGroup node

   .. caution::
      To make sure that the emergency stop button is **NOT pressed**
      because motor does not become on.

   Try::

     $ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch


   * Parallel gripper::

     $ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch gripper_type:=parallel

   * Vacuum gripper::

     $ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch gripper_type:=vacuum

#. Run the sample script

   Open a new terminal::

     $ source ~/catkin_ws/devel/setup.bash

   Install the dependent package::

     $ sudo apt install ros-kinetic-moveit-python

   Try::

     $ python ~/catkin_ws/src/denso_cobotta_ros/scripts/packing_pose.py
       ...
       0: Old packing pose, 1: New packing pose, 2: Home pose, Others: Exit
       Select the value:

   Enter ``2`` for a trial.

---
LED
---
The color of LED display the state of COBOTTA.

+--------+-----------------------------------------------------------------------+
|  Color |                              State                                    |
+========+=======================================================================+
| Green  | No error: the motor is running or it is possible to be turned ON.     |
+--------+-----------------------------------------------------------------------+
| Yellow | :ref:`Robot error <clear_robot_error>`                                |
+--------+-----------------------------------------------------------------------+
|   Red  | :ref:`Safe State, SafetyMCU error, Emergency stop <clear_safe_state>` |
+--------+-----------------------------------------------------------------------+

..
.. CALSET
..
.. include:: /command_reference/rosservice_calset.rst

----------
Simulation
----------
The following section will help you to simulate COBOTTA on Gazebo.

.. important::
   `Gazebo system requirements <http://gazebosim.org/tutorials?tut=guided_b1&cat=#Systemrequirements>`_:

   * A dedicated GPU,

     * Nvidia cards tend to work well in Ubuntu

   * A CPU that is at least an Intel I5, or equivalent,
   * At least 500MB of free disk space,
   * Ubuntu Trusty or later installed.

   COBOTTA has Atom CPU and no graphics card,
   so it doesn't meet the requirements of Gazebo.
   Do Gazebo simulation on your PC.


Install the dependent package::

  $ sudo apt install ros-kinetic-gazebo-ros-control

Try::

  $ roslaunch denso_cobotta_bringup denso_cobotta_bringup.launch sim:=true gripper_type:=none