Tutorials

The tutorials are split into several levels. When starting with ArmarX, it is advisable to chronologically do the Getting Started and Beginner Level tutorials, while it usually is sufficient to do the more advanced tutorials on demand.

General tips for doing the tutorials:

• Really do the things in the tutorials yourself and see what the results look like. Not only is this more fun, you will also get a better feeling for them and memorize them better. This extends to code: Try to actually type code yourself in the IDE (e.g. QtCreator) instead of copy-pasting it from the tutorial. This might feel cumbersome, but this way, you see how the IDE behaves and supports (or does not support) you when writing code, which makes you ready for your own project later on. Also, you memorize the code and workflow better the more often you do it, so you're better going to start right away!

• Sometimes, a code box looks like this:

  $ echo $ARMARX_WORKSPACE
  /home/.../code/

  In this case, the $ indicates that this line is the command you should run (excluding the $). The lines below are an example for the result of the command.

If a tutorial does not work as expected, consider writing an issue.

Getting Started

1. Install ArmarX
2. Explore ArmarX (I): Start the ARMAR-III Simulation
3. Explore ArmarX (II): Interact with the ARMAR-III Simulation

Beginner Level

• C++
  1. Create a "Hello World!" Component in ArmarX
  2. Understand Distributed Systems
  3. Write a Server and Client Communicating via RPC
  4. Write a Publisher and Subscriber Communicating via Topics

     Note

     Note: the direct use of topics is discouraged. Use this tutorial only for general understanding. Refer to the ArmarX Memory tutorial for most use cases.

  5. ArmarX Memory: Write a Memory Server and Client
• Python
  • Python tutorials are not available yet to a large extent. Also see the Python examples of the separate python3-armarx documentation.

Advanced Level

• Skill Framework
  1. Create a Skill
  2. Using Parameters of Skills via ARON
  3. Using Subskills

Older tutorials

Warning

The following tutorials tend not to reflect the currently recommended way to implement functionality in ArmarX.

• Statecharts (for new projects, consider rather using skills!)
  1. Basic Statechart Tutorial
  2. Basic Tutorial: Counting with Statecharts (An Introduction to the Statechart Editor)
  3. Intermediate Tutorial: A waving robot
  4. Advanced Tutorial: Pick And Place
  5. Moving the robot's hand along a predefined trajectory
• MemoryX (for new projects, only use ArmarX Memory!)
  • MemoryX Tutorials MemoryX
• Tutorials in specific packages of ArmarX, partially overlapping with tutorials listed above:
  • ArmarXCore
  • ArmarXGUI
  • RobotAPI
  • VisionX
  • RobotComponents