/CHallENge-WritingRobot

HKPC 2022 Inno-Canival

Primary LanguagePythonMIT LicenseMIT

CHallENge-WritingRobot

HKPC 2022 Inno-Canival

Awesome

Prerequisites

Build and test on Ubuntu 20.04.

Installation

Please install: ros-Noetic Desktop-Full Install moveit! (Moveit! 1 Noetic) franka_ros (franka_ros) libfranka (libfranka) in advance.

Building

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.

Launch

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

Launch Simplified (Optional)

To launch the control program:

./launch1.txt

and then open another terminal:

./launch2.txt

Contact

Sheldan Chen - email@hkpc.org

Project Link: https://github.com/SheldanChen/CHallENge-WritingRobot.git

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