This code is currently unusable due to changes in V-REP 3.5.

Vrep_RosInterface_teleop

V-rep and ROS used to create a teleoperation system with Baxter to learn from demonstrations. Here is a small video clip as an example.

Prerequisites

• ROS Kinetic
• V-REP
• V-REP RosInterface

Guide to install and setup these are given here

To setup

• Clone this project in the same catkin workspace as used for the RosInterface.
• Open meta/messages.txt of vrep_ros_interface package and add

  vrep_teleop/Joints

• In CMakeLists.txt of vrep_ros_interface package add 'vrep_teleop' to the list of package names in catkin_package().
• Open package.xml, and add these two lines:

  <build_depend>vrep_teleop</build_depend>
  <run_depend>vrep_teleop</run_depend>    

• Rebuild your catkin workspace using

  $ catkin build

• Copy the library file libv_repExtRosInterface.so in devel/lib folder to your V-REP installation folder.

  $ cp -iv devel/lib/libv_repExtRosInterface.so "$VREP_ROOT/"

• Copy the matrix.lau file in vrep/lua to the lua folder of your V-REP installation folder.

  $ cp -iv src/vrep_teleop/vrep/lua/matrix.lua "$VREP_ROOT/lua/"

To use teleoperation and record

1. Start baxter and from your Baxter Workspace run

  ./baxter.sh

2. Enable the baxter:

  rosrun baxter_tools enable_robot.py -e
  rosrun baxter_tools tuck_arms.py -u

3. Open another terminal repeat step 1. Then start V-REP and open vrep/scenes/baxterTeleopRecording.ttt
4. Open another terminal repeat step 1. Then run the python script script/teleop_data_logging.py if you wish to record the data

Other

• Some sample data are given in vrep/SampleData/.
• Scripts for using the saved data are there in script/ folder.
• Read the instruction at the beginning of the scripts.