/robothon-2023-byod

Primary LanguageC++MIT LicenseMIT

ROBOTHON 2023 Bring Your Own Device

Measurement of battery's voltage inside a clicker with a voltmeter manipulated by two Franka Emika robotics arms. The voltage measured by the voltmeter is then captured using a camera mounted on the Franka robotic arm and eventually displayed to the user using a GUI.

BYOD_setup

Contents

  1. Installation
  2. Repo Structure
  3. Contributors

Installation

Prerequisites

  • Ubuntu 20.04
  • ROS Noetic

Clone the repo

  1. Create a catkin workspace
  2. Clone the repo using the following commands:
cd ~/your-catkin-ws/src/
git clone https://gitlab.iit.it/hrii/projects/robothon/hrii_robothon_byod
  1. Invoke catkin tool inside ros workspace i.e. catkin_make

Dependencies

Launch Franka Emika manipulators

roslaunch hrii_robothon_byod main_byod.launch

Launch the camera with the GUI

cd ~/your-catkin-ws/src/hrii_board_localization/scripts
python scripts/read_text.py

Repo Structure

hrii_robothon_byod
├── config
├── include
├── launch
├── rviz
├── src
└── README.md

Contributors