/yumi_fk_calibration

Primary LanguagePython

For calibrating YuMi's FK function

Need to setup:

  • Trac-IK: sudo apt-get install ros-noetic-trac-ik
  • transforms3d pip install transforms3d
  • RealSense (librealsense)
  • ar_track_alvar
  • yumi(fork from kth-ros-pkg. Please use coil_dev branch)
  • ariadne_plus(fork from lar-unibo/ariadne_plus, using the same trained model. Please select coil_dev branch, with srv file modified)
    • pip3 install arrow termcolor igraph scikit-image pytorch-lightning==1.7.1 torch==1.8.2 torchvision==0.9.2 torchaudio==0.8.2 --extra-index-url https://download.pytorch.org/whl/lts/1.8/cpu
    • Or get the GPU version for pytorch, such as https://download.pytorch.org/whl/lts/1.8/cu111, depending on the CUDA version.

To run the package

  • Use roslaunch yumi_fk_calibration demo.launch
  • Run python scripts

To run the simulator

  • Use roslaunch yumi_fk_calibration yumi_gazebo_moveit.launch

  • Then use roslaunch yumi_fk_calibration rviz_sim.launch

  • Failed to load library /opt/ros/noetic/lib/libmoveit_motion_planning_rviz_plugin.so

    • Error log: 
      [ERROR] [1678130372.698112823]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: Failed to load library /opt/ros/noetic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_background_processing.so.1.1.11: cannot open shared object file: No such file or directory)
    • Solution: 
      sudo apt-get update
sudo apt-get dist-upgrade