Affonso-Gui/hiro_card_demo

Hiro Card Demo

Quick Install:

cd catkin_ws/src
git clone https://github.com/Affonso-Gui/hiro_card_demo.git
cd catkin_ws
catkin build hiro_card_demo

Requirements

This demo needs the rubber attachments shown below.

It also relies on ACCURATE JOINT CALIBRATION. Make sure to always calibrate from the power-off pose, and try to recalibrate when not being able to grasp cards correctly.

Run from the Scratch web interface:

1. roslaunch hiro_card_demo start.launch
2. Open http://scratch3-ros.jsk.imi.i.u-tokyo.ac.jp
3. From the File menu load card_demo_interface.sb3
4. Place and flip the cards as wanted and press Go to move the robot

Run from the console:

roscd hiro_card_demo/src
roseus main.l

Hiro Card Demo with Interruption and Resumption Management

Recognition Startup

1. Launch Detic for object recognition

# hiro_card_demo branch
ssh affonso-desktop
docker-run detic_ros_devel
roslaunch detic_ros detection.launch

2. Launch hand_object_detector

ssh affonso@dlbox12  # or dlbox14
docker-run affonso-ros-project
conda activate project-ddhand
python ddhand_ros_inference.py

3. Launch node for extracting hand/obj boxes and checking intersections

roslaunch pet_bottle_demo extract_rectangles

4. Launch anomaly detection node

ssh affonso@dlbox12
docker-run affonso-ros-project
conda activate ros-project
cd ~/epic-project/src
python lstm_ros_inference_hiro.py

Demo Startup

1. Start roseus action server

roscd hiro_card_demo_resumption_management/euslisp
roseus hiro-card-demo-action-server.l

2. Launch the demo with the executable

rosrun hiro_card_demo_resumption_management hiro_card_demo

3. Optionally run with Groot

roslaunch hiro_card_demo_resumption_management hiro_card_demo_server.launch
rosrun groot Groot

4. Send commands with the scratch interface