This directory contains scripts that run some tests of the SNS-IK library using the Sawyer and Baxter robot models.

First you need to setup your catkin workspace. If you are unfamiliar with this process then you should refer to the ROS tutorial page: http://wiki.ros.org/catkin/Tutorials/create_a_workspace

Once you set up the catkin workspace it should look something like:

ros_ws/
- src/
  - sns_ik/
  - baxter_robot/
  - sawyer_robot/

The sns_ik/ directory contains this repository, cloned from: https://github.com/RethinkRobotics-opensource/sns_ik. The baxter_robot/ director contains the open-source model of the Baxter robot, cloned from: https://github.com/RethinkRobotics/baxter_common.git. The sawyer_robot/ directory contains the open-source model of the Sawyer robot, cloned from: https://github.com/RethinkRobotics/sawyer_robot.

Once the directory structure is in place you will need to setup the catkin workspace. The commands will look something like this:

$ cd ros_ws
$ source /opt/ros/indigo/setup.sh
$ catkin_make
$ source devel/setup.bash

Now you can run the test scripts:

$ roslaunch sns_ik_examples test_baxter.launch
$ roslaunch sns_ik_examples test_sawyer.launch

The file test_ik_solvers.launch is the generic launch file and is called by both of the test scripts above. The launch file then passes a set of arguments into the all_ik_tests executable. The source code for all_ik_tests is in src/ik_tests.cpp. You can read more about ROS launch scripts here: http://wiki.ros.org/roslaunch/XML.

One way to do this would be to create a test_yourNewRobot.launch file that is similar to either the Sawyer or Baxter test scripts that are in this package.