Using the GUI
Refer to the README.md instructions to launch the GUI.
The main page lets you select between :
- Opening the simulation sub-window to select which simulation to run
- Opening the real time control window to control a real-world QuadrUS robot (robot not included)
The simulation sub-window lets you select between :
- Launching the RVIZ simulation
- Launching the Gazebo simulation (a joystick should be connected)
- Stopping the active simulation
The real time control window lets you control a real-word QuadrUS based robot.
- Start button starts the process to control the robot with the joystick
- EMERGENCY STOP disables the joystick (This button toggles between an ESTOP and reset state in order to enable the joystick again)
- The commands sent to the motors and their current positions are displayed on the right side of the screen
