/RT_ws

[ICRA2024] The simulation shared autonomy experiment in Robot Trajectron

Primary LanguagePython

Shared autonomy experiment of Robot Trajectron

Requirements

  • A computer with the Ubuntu 20.04.
  • ROS Noetic
  • Apriltag ROS
  • pybullet
  • qpsolver (daqp)
  • roboticstooblox-python
  • clarabel
  • scs

How To Install ROS packages

Installation

1. Clone Repo

2. Compile the environment

cd RT_ws
catkin_make
source ./devel/setup.bash
cd ..

Usage

Activate trajectron

python src/trajectron/src/trajectron_node.py --model_path /path/to/model

Activate simulation (Recommend to run it in VSCode)

python src/franka_share_control/src/franka_sim_world.py

Activate shared control

python src/shared_control/src/shared_control/SharedControlPybullet.py

The "up", "down", "left", "right" represent the moving in x-axis positive/negative direction and y-axis positive/negative direction. "A" and "Z" represent the moving in z-axis positive/negative direction. "H" is homing.

Acknowledgement

This repo is based on the code in https://github.com/Shared-control/improved-apf

Thanks for the help from Jordan Antypas@KU Leuven and Maria Papadopoulou@KU Leuven.