Getting started

Three steps are necessary in order to start using the robot together with the reasoning system.

Note

These are valid for use with the Panda arm from Franka Emika but would need to be adapted if another robot is used.

Starting the robot and its interface

$  roslaunch franka_tut bringup_franka.launch

Starting the knowledge base server

$  cd path/to/your/flask/app/
$  . venv/bin/activate
$  export FLASK_APP=name-of-your-flask-app
$  export FLASK_ENV=development
$  flask run

Starting the reasoning system

$  roslaunch franka_tut franka_tut.launch mode:=<automated|interactive>