{"id":564,"date":"2015-10-29T18:24:48","date_gmt":"2015-10-29T18:24:48","guid":{"rendered":"http:\/\/jafma.net\/ana\/theweekendarchaeologist\/?p=564"},"modified":"2015-10-29T18:28:52","modified_gmt":"2015-10-29T18:28:52","slug":"unit-tests-with-widowx-arm-in-ros","status":"publish","type":"post","link":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/?p=564","title":{"rendered":"WidowX+ROS: Primeras pruebas unitarias \/ First unit tests"},"content":{"rendered":"<a class=\"synved-social-button synved-social-button-share synved-social-size-16 synved-social-resolution-single synved-social-provider-facebook nolightbox\" data-provider=\"facebook\" target=\"_blank\" rel=\"nofollow\" title=\"Share on Facebook\" href=\"http:\/\/www.facebook.com\/sharer.php?u=https%3A%2F%2Fjafma.net%2Fana%2Ftheweekendarchaeologist%2Findex.php%3Frest_route%3D%252Fwp%252Fv2%252Fposts%252F564&#038;t=WidowX%2BROS%3A%20Primeras%20pruebas%20unitarias%20%2F%20First%20unit%20tests&#038;s=100&#038;p&#091;url&#093;=https%3A%2F%2Fjafma.net%2Fana%2Ftheweekendarchaeologist%2Findex.php%3Frest_route%3D%252Fwp%252Fv2%252Fposts%252F564&#038;p&#091;images&#093;&#091;0&#093;=&#038;p&#091;title&#093;=WidowX%2BROS%3A%20Primeras%20pruebas%20unitarias%20%2F%20First%20unit%20tests\" style=\"font-size: 0px; 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width:16px;height:16px;margin:0;margin-bottom:5px;margin-right:5px;\"><img loading=\"lazy\" decoding=\"async\" alt=\"linkedin\" title=\"Share on Linkedin\" class=\"synved-share-image synved-social-image synved-social-image-share\" width=\"16\" height=\"16\" style=\"display: inline; width:16px;height:16px; margin: 0; padding: 0; border: none; box-shadow: none;\" src=\"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/wp-content\/plugins\/social-media-feather\/synved-social\/image\/social\/regular\/32x32\/linkedin.png\" \/><\/a><a class=\"synved-social-button synved-social-button-share synved-social-size-16 synved-social-resolution-single synved-social-provider-mail nolightbox\" data-provider=\"mail\" rel=\"nofollow\" title=\"Share by email\" href=\"mailto:?subject=WidowX%2BROS%3A%20Primeras%20pruebas%20unitarias%20%2F%20First%20unit%20tests&#038;body=Check%20this%20out%20%2F%20Mira%20esto:%20https%3A%2F%2Fjafma.net%2Fana%2Ftheweekendarchaeologist%2Findex.php%3Frest_route%3D%252Fwp%252Fv2%252Fposts%252F564\" style=\"font-size: 0px; width:16px;height:16px;margin:0;margin-bottom:5px;\"><img loading=\"lazy\" decoding=\"async\" alt=\"mail\" title=\"Share by email\" class=\"synved-share-image synved-social-image synved-social-image-share\" width=\"16\" height=\"16\" style=\"display: inline; width:16px;height:16px; margin: 0; padding: 0; border: none; box-shadow: none;\" src=\"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/wp-content\/plugins\/social-media-feather\/synved-social\/image\/social\/regular\/32x32\/mail.png\" \/><\/a><p>Como coment\u00e9 en el <a href=\"http:\/\/jafma.net\/ana\/theweekendarchaeologist\/?p=547\" target=\"_blank\">post anterior<\/a>, estamos trabajando con un brazo WidowX instalado sobre un Turtlebot. Estas son las muy primeras, muy iniciales y muy parciales pruebas \ud83d\ude42 que hemos realizado: un &#8220;home&#8221; b\u00e1sico, en el que las articulaciones de la 1 a la 5 se posicionan en 0\u00ba.\u00a0 Por si fuera de utilidad, este c\u00f3digo de prueba est\u00e1 disponible en <a href=\"https:\/\/github.com\/WeekendArchaeo\/ROS\" target=\"_blank\">mi GitHub<\/a>,\u00a0 y poco a poco iremos a\u00f1adiendo pruebas m\u00e1s complicadas. Est\u00e1 preparado para trabajar con el <a href=\"https:\/\/github.com\/RobotnikAutomation\/widowx_arm\" target=\"_blank\">software ROS para WidowX de Robotnik Automation<\/a>.<\/p>\n<p>Ahora mismo, las articulaciones no se relajan desde c\u00f3digo; para lograrlo, llamar desde consola al servicio de relax de las articulaciones; por ejemplo, <em>rosservice call \/arm_5_joint\/relax<\/em><\/p>\n<p>&nbsp;<\/p>\n<p>As I commented in the <a href=\"http:\/\/jafma.net\/ana\/theweekendarchaeologist\/?p=547\" target=\"_blank\">previous post<\/a>, we are working with a WidowX arm fixed on a Turtlebot 2. These are the very first, very preliminar and very partial tests \ud83d\ude42 we have performed: a basic &#8220;home&#8221;, with joints from 1 to 5 set to 0\u00ba . In case it could be useful, I have uploaded this code to <a href=\"https:\/\/github.com\/WeekendArchaeo\/ROS\" target=\"_blank\">my GitHub<\/a>, though we will keep adding more tests. The code is prepared to work with the <a href=\"https:\/\/github.com\/RobotnikAutomation\/widowx_arm\" target=\"_blank\">ROS software for WidowX created by Robotnik Automation<\/a>.<\/p>\n<p>Right now, joints are not relaxed from code; to do this, you should call from console to the relax service of every joint; for example, <em>rosservice call \/arm_5_joint\/relax<\/em><br \/>\n<iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/ZKKxhOrOpJI\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Como coment\u00e9 en el post anterior, estamos trabajando con un brazo WidowX instalado sobre un Turtlebot. Estas son las muy primeras, muy iniciales y muy parciales pruebas \ud83d\ude42 que hemos realizado: un &#8220;home&#8221; b\u00e1sico, en el que las articulaciones de la 1 a la 5 se posicionan en 0\u00ba.\u00a0 Por si fuera de utilidad, este &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/?p=564\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;WidowX+ROS: Primeras pruebas unitarias \/ First unit tests&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"categories":[10],"tags":[25,44,45],"_links":{"self":[{"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/posts\/564"}],"collection":[{"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=564"}],"version-history":[{"count":7,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/posts\/564\/revisions"}],"predecessor-version":[{"id":571,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=\/wp\/v2\/posts\/564\/revisions\/571"}],"wp:attachment":[{"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=564"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=564"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/jafma.net\/ana\/theweekendarchaeologist\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=564"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}