This repo is part of kPAM that provides ros service for 3D keypoint detection. The name ManKey stands for manipulation based on keypoints.
- Clone this repo into your
catkin workspace
bygit clone https://github.com/weigao95/mankey-ros mankey_ros
(Note the underscore) - Run
catkin_make
to build the message types - To run the code in
nodes/
andscripts/
, you need to add${project_path}
toPYTHONPATH
[1]. You might runexport PYTHONPATH="${project_path}:${PYTHONPATH}"
- Download the pre-trained network here, the test data is available at
${project_root}/test_data
- Start the keypoint detection server with
python nodes/mankey_keypoint_server.py --net_path path/to/pretrained/net
- Run the test by
python scripts/simple_mankey_client_test.py
[1] The official way for python package installation is the setup.py
file in ros
. However, I always forgot to re-run catkin_make
after modifying the python code, which causes confusion. Thus, I prefer to directly add ${project_path}
to PYTHONPATH
.