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About

image

The server has two main functions:

  • Computing the screw axis parameters from AR-HMD data points (Step 4 above), and
  • Transfering a plan from the AR-HMD to the robot (Step 9b above)

Package Overview

The server functions are implemented using the ar_screw_axis package.

Installation

Install the server software on a host connected to the Robofleet network. The server software is designed for Ubuntu 20.04/ROS Noetic.

cd ~
mkdir -p my_server_ws/src
cd ~/my_server_ws/src
git clone https://github.com/UTNuclearRobotics/ar_screw_axis.git
cd ~/my_server_ws
catkin build
source devel/setup.bash

Installation

Dependencies

Install vcstools to get started using this directory

sudo apt install python3-vcstools

Setup

  1. Create a catkin workspace.
cd ~
mkdir -p catkin_ws/src
cd ~/catkin_ws/src
  1. Clone this repo into the catkin_ws/src directory.
git clone https://github.com/UTNuclearRoboticsPublic/ar-affordances.git
  1. Clone the ar_screw_axis, robofleet_client, & robotfleet_server server packages via vcstools.
cd ar-affordances/server && vcs import < .server.repos
  1. Build and source your workspace.
cd ~/catkin_ws
catkin build
source devel/setup.bash
  1. Follow instructions on ar_screw_axis to configure the server and setup a robofleet connection.

Usage

On a host on the same network as a Robofleet server, in a properly-sourced ROS workspace, launch the demo script:

roslaunch ar_screw_axis screw_axis_demo.launch

This will launch:

  • The server's robofleet client
  • The nlls_solver screw axis solver node
  • The transform listener
  • A similarity_study node to compute similarity metrics and save the data