This repository contains all the code we used in our submission to ICRA 2021
This repository is "as is" for now, but will be updated coming soon to be a bit more readable and easier to use for those interested.
An important thing is we started this project by copying from the Ros Kortex example folders.
This repo is a copy of the necessary portions to run our implementations, because the original repository has some stuff we wanted to keep private
To run the ros stuff you need 3 terminals doing 3 different things:
In Terminal 1: just run "roscore":
roscore
In Terminal 2:
roslaunch kortex_driver kortex_driver.launch gripper:=robotiq_2f_85 start_rviz:=false ip_address:=192.168.1.12
the stuff after .launch are optional arguments details here
In Terminal 3: do the rosrun command after building in a catkin workspace
catkin_make # in your workspace
rosrun <name of codebase> <script to run>
if after running catkin_make and trying to run files you find that you still cannot. Make sure the python script is set to be executable. So something like this:
chmod +x <file-you-want-to-run.py>
to run camera you can use following:
rosrun UncalibratedVisualServoingLearning camera_publisher.py