/mankey-ros

Primary LanguagePython

mankey-ros

This repo is part of kPAM that provides ros service for 3D keypoint detection. The name ManKey stands for manipulation based on keypoints.

Install Instruction

  • Clone this repo into your catkin workspace by git 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/ and scripts/, you need to add ${project_path} to PYTHONPATH [1]. You might run export PYTHONPATH="${project_path}:${PYTHONPATH}"

Run Instruction

  • 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

MISC

[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.