WEBVTT 00:00.170 --> 00:08.270 We are finally ready to start our node that uses the movie API to set a goal for our robot, plan a 00:08.270 --> 00:12.320 trajectory, and then execute the planned trajectory. 00:12.530 --> 00:15.770 To execute all of these, let's open a new terminal. 00:15.800 --> 00:20.540 Let's go to the workspace and let's build it with Qualcomm Build. 00:22.190 --> 00:24.290 Then in a new window of the terminal. 00:24.290 --> 00:27.560 Let's start by launching the gazebo simulation of the robot. 00:27.560 --> 00:31.190 So let's source the file setup bash. 00:31.190 --> 00:39.920 And let's launch with Ros2 launch from the Arduino board description the gazebo launch dot Pi. 00:39.950 --> 00:46.370 So now this is starting the gazebo simulation of our robot in the empty word perfect. 00:46.370 --> 00:47.540 So here we go. 00:48.320 --> 00:54.770 Now let's make this terminal a little bit bigger as we are going to start also the control system of 00:54.770 --> 00:55.550 the robot. 00:55.550 --> 01:01.550 So in a new window again let's source the file setup dot bash. 01:01.550 --> 01:07.320 And then let's launch with rocket to launch from the Arduino bot controller. 01:07.350 --> 01:08.430 The control system. 01:08.430 --> 01:10.500 So the controller dot launch dot pi. 01:10.530 --> 01:12.300 So let's press enter. 01:12.330 --> 01:13.140 Perfect. 01:13.140 --> 01:16.380 And so with this we are starting the control system of the robot. 01:16.380 --> 01:22.080 And so we get the confirmation that both the arm controller and the gripper controller are properly 01:22.080 --> 01:22.950 running. 01:22.980 --> 01:28.350 Now if we open also a new window of the terminal we can finally start also move it. 01:28.740 --> 01:34.590 So again let's source the file setup dot bash and let's launch move it. 01:34.620 --> 01:43.770 So with Ros2 launch and from the Arduino bot move it package, let's start the move it dot launchpad. 01:43.800 --> 01:45.540 So let's press enter. 01:45.540 --> 01:49.350 And this is starting now the move it interface. 01:49.350 --> 01:55.320 And also we can see that here we have the service window that we configured and used in the previous 01:55.320 --> 01:56.700 lesson to move the robot. 01:56.700 --> 02:02.130 But now we are not going to use it as we want to move our robot using the node that we created. 02:02.130 --> 02:05.580 And so using the C plus plus or the Python API. 02:05.700 --> 02:09.810 So in order to start our code, let's open a new terminal. 02:09.810 --> 02:13.200 And here again let's source the workspace. 02:13.200 --> 02:18.600 And now I'm going to start the C plus plus implementation of the Python API. 02:18.630 --> 02:25.650 So I'm going to try to move our robot using the Python API that we developed in the C plus plus node. 02:25.650 --> 02:29.670 So I'm going to use the command Ros2 run. 02:29.670 --> 02:32.760 And from the Arduino robot CP examples. 02:32.760 --> 02:36.840 Let's start the simple move it interface. 02:36.840 --> 02:39.750 So this will start the C plus plus implementation. 02:39.750 --> 02:45.000 Otherwise if you want to start the Python implementation here, I will show you the command that you 02:45.000 --> 02:46.410 need to execute. 02:46.560 --> 02:53.700 And so again this is the Ros2 launch this time because for the Python implementation we developed a 02:53.700 --> 02:54.600 launch file. 02:54.600 --> 03:02.790 And from the Arduino bot Pi examples we want to start the simple move it interface to launch dot pi. 03:02.790 --> 03:06.390 So this one here starts the Python interface. 03:06.390 --> 03:12.790 So the node that uses the movie Python APIs to move the robot, and instead this one here that I'm going 03:12.790 --> 03:16.390 to use in this lesson starts the Cplusplus implementation. 03:16.390 --> 03:21.700 So let's close this terminal and let's instead launch this node here. 03:21.700 --> 03:26.200 So let's run this node here for the Arduino bot CP examples. 03:26.200 --> 03:28.150 So let's press enter. 03:28.840 --> 03:33.640 And as we can see as we press enter our robot moves in the simulated environment. 03:33.640 --> 03:38.590 So we can see that it reaches the desired position. 03:40.300 --> 03:43.240 And also the gripper now is opening. 03:43.240 --> 03:48.130 And so this is exactly the configuration that we have set in our Cplusplus node. 03:48.130 --> 03:50.500 So we wanted just the base. 03:50.500 --> 03:55.060 So this one here the motor of the base to rotate 90 degrees. 03:55.060 --> 03:58.150 And so the robot moved from this initial configuration to this one. 03:58.150 --> 04:00.700 And we also wanted the gripper to be opened. 04:00.700 --> 04:03.460 And so as we can see everything worked. 04:03.460 --> 04:08.710 So move it was able to plan the trajectory to the desired goal and also to execute it.