franka_realsense_test

Instructions

Start a rosmaster in a terminal.
```
roscore
```
Go to the launch folder in this package and start the realsense.
```
cd ~/franka_realsense_test/launch
roslaunch realsense.launch
```
Check that the realsense is running using rqt_image_view or rqt or rviz.
```
rqt_image_view
```
Rostopic echo the camera_info and make sure the config/realsense.intr file matches the output (The first number in K is fx, the third number in K is cx, the fifth number in K in fy, and the 6th number in K is cy).
```
rostopic echo /camera/color/camera_info
```

Start Frankapy as usual.

cd Prog/frankapy
./bash_scripts/start_control_pc.sh -u student -i iam-<robot_name>

Enter the virtual environment and enter this folder.
```
senv
cd ~/franka_realsense_test
```
Run the example script with a wooden block on the table.
```
python scripts/pick_up_using_realsense.py
```
Click on the center of the block in the image that pops up and then press enter.
The robot should go pick up the top of the block.