Before running your programs¶
The variable PYTHONPATH¶
The Python interpreter needs to have all used packages in the environment variable PYTHONPATH, to do that, you need to have sourced your ROS environment:
- If you are coding directly on your robot, it is made directly in every terminal.
- If your are using simulation, be sure to have followed the setup from Setup Ned ROS environment.
Required piece of code¶
To run, your program will need some imports & initialisation. We give you below the piece of code you must use to make Python ROS Wrapper work:
#!/usr/bin/env python # Imports from niryo_robot_python_ros_wrapper import * import rospy # Initializing ROS node rospy.init_node('niryo_ned_example_python_ros_wrapper') niryo_robot = NiryoRosWrapper() # -- YOUR CODE HERE -- #
You have now everything you need to control the robot through its Python ROS Wrapper. To run
a script, simply use the command