Robot Playground Project

The Robot Playground Project contains Python and C++ examples to help you getting started with the Robot Learning Lab.

Please see the Robot Learning Lab documentation for a detailed guide on how to get started or follow the quick start guide below if you are already familiar with the Robot Learning Lab.

Quick start

Clone the project into your catkin workspace.

Build the project

Make sure you are in your catkin workspace directory and run the following command to build the project:

catkin build rll_robot_playground_project

Run the project

Setting up the RLL environment and running your code contains four steps. Execute each command in a new terminal tab or window.

1. Start rviz and load the robot environment:

   roslaunch rll_robot_playground_project moveit_planning_execution.launch

2. Start the playground_iface, which controls the robot:

   roslaunch rll_robot_playground_project playground_iface.launch

3. Load the project code, but don't execute it just yet. Depending on whether you want to write your code in Python or C++ run one of the following commands:

   • Python version:

     roslaunch rll_robot_playground_project move_sender.launch

   • C++ version:

     roslaunch rll_robot_playground_project move_sender.launch use_python:=false

4. Trigger the execution of your project code:

   roslaunch rll_tools run_project

Modify the code

All example programs are included twice, once written in Python and once in C++. The C++ code can be found in the src/ folder whereas the Python code is located in the scripts/ directory.

If you follow the steps above the code in the file scripts/playground.py or src/playground.cpp, respectively, is executed. Therefore place your own code in these files.