Start the simulation the simulation with this command :
rostopic pub -1 /initial_condition geometry_msgs/Pose
"position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
It is possible to manually change the control mode with this command :
rostopic pub -1 /proc_control/set_mode std_msgs/UInt8 "data: 10"
The value '10' can be replaced with another value to change the mode, here are the possibilities :
rostopic pub -1 /proc_control/add_pose sonia_common/AddPose
"position: {x: 0.0, y: 0.0, z: 0.0},
orientation: {x: 0.0, y: 0.0, z: 0.0},
frame: 0.0,
speed: 0.0,
fine: 0.0
path: True"
Here's the content of an AddPose message:
position: Point (x y z)
orientation: Vector3 (x y z)
frame: uint8
0 : Absolute position and absolute angle
1 : Relative position and relative angle
2 : Relative position and absolute angle
3 : Absolute position and relative angle
speed: uint8
fine: float64
rotation : Boolean