# Getting Started (Chinese Version)

你好！这是关于大模型规划相关的代码，为了确保代码能够正常运行，请按照以下步骤操作：

步骤 1: 克隆代码并安装 ROS 依赖

首先，将代码克隆到一个工作空间目录，并下载所有必要的 ROS 依赖：

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone -b https://github.com/CumulusAlpha/my_kinova.git
cd ../
rosdep install --from-paths src --ignore-src -y

步骤 2: 安装 MoveIt

执行以下命令安装 MoveIt：

sudo apt install ros-noetic-moveit

步骤 3: 编译工作空间并加载环境

编译工作空间，并加载环境变量：

catkin_make
source devel/setup.bash

注意：如果编译没有报错，则表示成功。但某些电脑上可能会缺少 moveit-visual-tools，可通过以下命令单独安装：

sudo apt install ros-noetic-moveit-visual-tools

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Demos

以下是两个主要的 Demo 使用指南：

1. Mujoco 环境中的机器人可视化

运行以下命令启动机器人可视化工具：

rosrun kinova_mujoco mujoco_refresher.py

2. 使用 BehaviorTree 控制机械臂抓取物体

第一步：在第一个终端加载机器人描述

roslaunch my_own_robot demo.launch # 加载机器人描述

第二步：在第二个终端运行抓取任务

rosrun kinova_mujoco mujoco_behaviortree

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通过上述步骤，你应该能够成功运行项目代码和示例。若有任何问题，请随时联系

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Getting Started (English Version)

Hello, this is the code I developed related to large model planning. To ensure it runs correctly, please follow the steps below:

Step 1: Clone all the code into a workspace directory and download all ROS dependencies:

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone -b https://github.com/CumulusAlpha/my_kinova.git
cd ../
rosdep install --from-paths src --ignore-src -y

Step 2: Install MoveIt

sudo apt install ros-noetic-moveit

Step 3: Compile your workspace and source it

catkin_make
source devel/setup.bash

If there are no errors, the compilation was successful. However, on some computers, moveit-visual-tools might not be installed. In such cases, please use the following command to install it:

sudo apt install ros-noetic-moveit-visual-tools

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Demos

Robot Visualization in Mujoco Environment:

rosrun kinova_mujoco mujoco_refresher.py

Using BehaviorTree to Control the Robotic Arm for Grasping Objects:

1. In the first terminal, run:

roslaunch my_own_robot demo.launch # load description of robots

2. In the second terminal, run:

rosrun kinova_mujoco mujoco_behaviortree