/wire_manipulation

Primary LanguagePythonMIT LicenseMIT

Wire Manipulation

Required packages

source install

https://github.com/Drojas251/interbotix_ros_toolboxes.git
https://github.com/Drojas251/interbotix_ros_core.git
https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b noetic https://github.com/Drojas251/image_pipeline.git

Other packages

pip install python-fcl
sudo apt-get install python-numpy python-scipy
pip install -U scikit-learn
sudo apt-get install ros-noetic-realsense2-camera

ROS Version and Dependencies

  • ROS Noetic Desktop
  • Moveit
  • ros_control
  • gazebo_ros_control

Launching Demo

Launch Dual Arm in Gazebo

roslaunch dual_robot_bringup bringup.launch use_sim:=true

Launch Dual Arm with Real Robots

roslaunch dual_robot_bringup bringup.launch use_actual:=true

Execute demo

rosrun dual_robot_control clear_wire_executor.py