/pincher_commander

Ros package that listens data published by skeleton_tf_listener node of the raw_skeleton package and publishes commands to the phantomx pincher robotic arm compatible with the package phantomx_rst

Primary LanguageC++

Turtlebot_arm_moveit_config and turtlebot arm_description are gotten from the package phantomx_rst

How to Start

roslaunch pxpincher_launch pxp.launch

Ctrl + c

__ roslaunch phantomx_pincher_robot_arm_edited_moveit_config arm.launch

__ roslaunch skeleton_tracker tracker.launch

__ rosrun raw_skeleton skeleton_tf_listener

__ rosrun raw_skeleton feature_extraction.py

__ rosrun pincher_commander pinchercommander_node.py

__ = New Terminal

Paketler için (catkin_ws/src içine git clone ile alınıp, catkin_make yapılabilir) https://github.com/rst-tu-dortmund/phantomx_rst #For kinetic, add "add_compile_options(-std=c++11)" to the cmakelists of the every package in the phantomx_rst metapackage. https://github.com/ozzdemir/skeleton_tracker https://github.com/ozzdemir/raw_skeleton https://github.com/ozzdemir/pincher_commander https://github.com/ozzdemir/phantomx_pincher_robot_arm_edited https://github.com/ozzdemir/phantomx_pincher_robot_arm_edited_moveit_config

skeleton trackerin çalışması için https://drive.google.com/open?id=0B-SFThXVfVhRNWQzMEVRc0VHNU0 klasöründeki dökumanları dikkatle okuyup, NiTE yi ve openni2 yi yüklemeniz gerekiyor.

pxp.launchun baştan config fileları yüklemek için sonrasında kapatıp arm.launchu çalıştırmak gerekiyor.