Recorder

Record and playback motion of a target robot controlled by Teachbot.

Launch

Default launch:

ros2 launch teachbot_recorder recorder.launch.py

Simulation mode:

ros2 launch teachbot_recorder recorder.launch.py sim:=true

Using a different robot config

The default configuration is for Universal Robots in config/ur.yaml.

To use a different robot, pass an absolute path to the config file (the launch system does not expand ~):

ros2 launch teachbot_recorder recorder.launch.py config:=/home/<user>/teachbot_ws/src/teachbot_ros/teachbot_recorder/config/ufLite6.yaml

Notes

• The GUI includes recording, playback, and point-stepping controls.

• Pistol state is recorded and published when enabled.