From 1877a471dae6bc8f25030ba0f5cfbcb51cc0a77f Mon Sep 17 00:00:00 2001
From: Sravan Balaji <balajsra@umich.edu>
Date: Thu, 23 Apr 2020 22:04:11 -0400
Subject: [PATCH] Add Scripts

- Add build.sh in ariac_ws to build and enable motion planning
- Add arm_pub_test.sh to publish a target position ros message
- Add arm_test.sh to build and run arm_controller_node
---
 src/ariac_ws/build.sh                              | 8 ++++++++
 src/rrrobot_ws/src/rrrobot/scripts/arm_pub_test.sh | 3 +++
 src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh     | 6 ++++++
 3 files changed, 17 insertions(+)
 create mode 100644 src/ariac_ws/build.sh
 create mode 100644 src/rrrobot_ws/src/rrrobot/scripts/arm_pub_test.sh
 create mode 100644 src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh

diff --git a/src/ariac_ws/build.sh b/src/ariac_ws/build.sh
new file mode 100644
index 0000000..4135381
--- /dev/null
+++ b/src/ariac_ws/build.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+catkin_make clean &&
+catkin_make &&
+catkin_make install &&
+
+source install/setup.bash
+roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1
\ No newline at end of file
diff --git a/src/rrrobot_ws/src/rrrobot/scripts/arm_pub_test.sh b/src/rrrobot_ws/src/rrrobot/scripts/arm_pub_test.sh
new file mode 100644
index 0000000..2353aa5
--- /dev/null
+++ b/src/rrrobot_ws/src/rrrobot/scripts/arm_pub_test.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rostopic pub /target_pose geometry_msgs/Pose '{position: {x: 0.875, y: 0.75, z: 1.5}, orientation: {x: 0, y: 0, z: 0, w: 0}}'
diff --git a/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh b/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh
new file mode 100644
index 0000000..cf7f4d7
--- /dev/null
+++ b/src/rrrobot_ws/src/rrrobot/scripts/arm_test.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+cd /app/rrrobot_ws
+catkin_make clean && catkin_make
+source devel/setup.bash
+rosrun rrrobot arm_controller_node