https://aicor.uni-bremen.de/wiki/ 2026-04-17T13:18:36+00:00 https://aicor.uni-bremen.de/wiki/ https://aicor.uni-bremen.de/wiki/_media/wiki/logo.png text/html 2016-05-19T09:19:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://aicor.uni-bremen.de/wiki/teaching/se-kiba/manipulation-assignment/executive?rev=1463649572&do=diff Setting our Executive We will now create a package to hold our executive trigging the various arm motion controllers. Creating the Package First, you need to create an empty package called iai_seminar_manipulation_executive. Note: As we'll be using roscpp our new executive has to depend on roscpp. Don't forget to also add proper links to your documentation. text/html 2016-05-19T09:19:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://aicor.uni-bremen.de/wiki/teaching/se-kiba/manipulation-assignment/gazebo-settings?rev=1463649572&do=diff Setting up our Simulation Environment The gazebo simulator included in ROS is very powerful but also computionally demanding. To improve the performance on our systems we will use a lightweight setup for our tutorial. A new package In our manipulation-repo, create a new ROS package called iai_seminar_manipulation_environment. If you forgot how to create a pkg, text/html 2016-05-19T09:19:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://aicor.uni-bremen.de/wiki/teaching/se-kiba/manipulation-assignment/joint-space-controller?rev=1463649572&do=diff Implementing a Joint Space Controller In this exercise you will use standard ROS libraries and interfaces to write a position-resolved joint-space controller for the PR2. This will be genuine low-level controller running in hard realtime on the robot.