Movo Control

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Velcoity Controller

To run the velocity controller, run rosrun uw_test movo_vel_controller.py on the Movo along with the RelaxedIK node

The ar_mover script contains a class with various functions for moving the various parts of the robot. Instantiating the class and calling the function will perform some behavior according to the function. eg. Follow AR tag with arm, follow AR tag with base, move head etc.

Mimicry Control

To run the mimicry_control, run the following nodes:

rosrun relaxed_ik load_info_file.py  
roslaunch relaxed_ik relaxed_ik_julia.launch
rosrun mimicry_control controller_publisher.py
rosrun mimicry control ee_pose_goal_pub_both.py
rosrun uw_test movo_vel_controller.py

Then click play on the unity project on Windows while both controllers are connected. If only one controller is connected it will still work with only the right arm.