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Robotics Software Installation

ROS 2

  1. Install ROS2 Humble according to the official instruction.

    • Note that while this project is developed under Humble, we do not explicitly use any Humble-specific feature, so other distro should work in principle.

RealSense D405 Depth Camera

  1. Install the RealSense depth camera interface package. This is a custom ROS2 package built upon Intel's official ROS2 wrapper.

GelSight Mini Tactile Sensor

  1. Install the GelSight tactile sensor interface package.
    • Note that this is not the same as the official GelSight implementation. We made some tweaks and (hopefully) improvements, so you are strongly encouraged to use our own package.

Note: See 3D Printing Instructions for some caveats on the dimension of the camera/sensor mount and the world-frame coordinates of the camera and the tactile sensor.

Robot Servoing and Teleoperation.

  1. Install the Ufactory xArm6 servoing and teleoperation package. This is a custom ROS2 package built upon the official UFactory ROS2 packages.
    • We also have a UR10e equivalent available.
    • If you are using a different robot, while we may not have a ROS2 package readily available, as long as your robot works with MoveIt 2, you should be able to adapt my code fairly easily.