Sawyer Robot

1. Connect with the same lab network

2. Matlab

setenv('ROS_MASTER_URI', 'http://192.168.1.10:11311')
setenv('ROS_IP', '192.168.1.30')

• 192.168.1.10 = sawyer robot IP
• 192.168.1.30 = this computer IP

Docker

pull docker docker pull pac48/sawyer_demo

run docker to enable robot sdk and gripper

sudo docker run --privileged -it --net=host pac48/sawyer_demo:latest bash

export ROS_MASTER_URI=http://192.168.1.10:11311
export ROS_IP=192.168.1.30
source devel/setup.bash

rosrun intera_interface enable_robot.py -e

rosrun intera_examples gripper_keyboard.py
<esc>

rosrun gripper gripper_listener.py

joystick

another terminal

cd /home/sawyer_ws/src/sawyerDemo/sawyer_launch/launch
roslaunch sawyer.launch