Build and test on Ubuntu 20.04.
Please install: ros-Noetic Desktop-Full Install moveit! (Moveit! 1 Noetic) franka_ros (franka_ros) libfranka (libfranka) in advance.
Building workspace requires the following tools:
- Git (obviously)
- ROS Noetic (Desktop-Full Install)
- Moveit! (Moveit! 1 for Noetic)
- franka_ros
- libfranka
Get the source code:
git clone git@github.com:SheldanChen/CHallENge-WritingRobot.git
Download chinese traditional dataset
https://hkpc-my.sharepoint.com/:f:/g/personal/sheldanchen_hkpc_org/EidJW0VXRvVOkX4ZaPxlU-sBEF4qeUrajWKhBR6doo3hTQ?e=Ut1pOz
Download chinese simplified dataset
https://hkpc-my.sharepoint.com/:f:/g/personal/sheldanchen_hkpc_org/EkmKRlLvOzVKqGi1jFAeMsUBEt-5rDTCv1ZIFvnkp0wtxw?e=7w3O8n
and put these two dataset folders under the root folder.
cd to workspace
cd Path/to/ROS
then source:
source ./devel/setup.bash
Launch moveit! :
roslaunch panda_moveit_config franka_control.launch robot_ip:= @ur_franka_address load_gripper:=true controller:=position
Open in another terminal for launching the GUI program: cd to the git root folder then
cd WritingRobot
python gui.py
To launch the control program:
./launch1.txt
and then open another terminal:
./launch2.txt
Sheldan Chen - email@hkpc.org
Project Link: https://github.com/SheldanChen/CHallENge-WritingRobot.git