Record & Play Bag

Usage

1-Where?

interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_puppet

2-Record Bag

Record bag, record:=true: roslaunch interbotix_xsarm_puppet xsarm_puppet_single.launch robot_model:=wx250s record:=true

Now you can move the robot manually and the moovments will be saved in to a ros bag (.bag file).

Check bag that was created in bag directory: cd interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_puppet/bag

3-Repeat Moovemnts (Playback)

Play bag, playback:=true bag_name:=: roslaunch interbotix_xsarm_puppet xsarm_puppet_single.launch robot_model:=wx250s playback:=true bag_name:=<bagname>

Resources