pararl

otter project

test demo

1. test continuous control mode To test kinova env, run python test/keyboard_control.py and use keyboard to control the end-effector in Cartesian space.

2. test discrete control mode run `python test/test_discrete_kinova_control.py' and use keyboard(1,2,3,4,5,6) to control ee to move.

steps for setting ros enviroment

1. export PATH=~/anaconda3/bin:$PATH
2. source activate py35
3. source ~/ProjectOtter/pararl2/ROS/devel/setup.bash
4. ./pycharm-2018.3.3/bin/pycharm.sh

steps to set up real robot

open a terminal, then input

1. export PYTHONPATH="/usr/lib/python2.7/dist-packages:$PYTHONPATH"
2. roslaunch kinova_bringup kinova_robot.launch

open another terminal, then input

1. export PYTHONPATH="/usr/lib/python2.7/dist-packages:$PYTHONPATH"
2. rosrun otter_kinova_grasping kinova_control.py

#steps to set up realsense

1. export PYTHONPATH="/usr/lib/python2.7/dist-packages:$PYTHONPATH"
2. roslaunch otter_kinova_grasping kinova_camera.launch

Build your project

1. build ros in Python3.5 terminal in order to use opencv

cd ros/src
catkin_make
source devel/setup.bash

2. connect to the kinova

roslaunch kinova_bringup kinova_robot.launch

3. open realsense

roslaunch otter_kinova_grasping kinova_camera.launch 

and you can open rviz to visualize the image from the realsense.

4. rosrun kinova_controller

export PYTHONPATH="/usr/lib/python2.7/dist-packages:$PYTHONPATH"
rosrun otter_kinova_grasping kinova_control.py 

5. run the demo

python experiments/myexp/myexp_real_demo.py