https://github.com/lagadic/demo_romeo_door
https://github.com/lagadic/demo_romeo_door
Last synced: 10 months ago
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- Host: GitHub
- URL: https://github.com/lagadic/demo_romeo_door
- Owner: lagadic
- Created: 2016-07-01T12:52:12.000Z (almost 10 years ago)
- Default Branch: master
- Last Pushed: 2016-07-29T15:12:01.000Z (almost 10 years ago)
- Last Synced: 2025-03-02T07:39:40.781Z (over 1 year ago)
- Language: C++
- Size: 23.4 KB
- Stars: 1
- Watchers: 11
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# Demo Romeo open and/or close a door
## Description of the demo step by step:
* Romeo detects a door handle using depth information and localize its pose.
* Open-loop motion of the arm to get close to the door handle
* Blobs tracker automatically detected and computation pose
* Grasping phase:
* Pose-Based visual servoing to approach the arm to the door handle
* Open-loop motion of the arm to get on top of the door handle
* Grasping the door handle
* Open-loop motion of the arm to rotate the door handle
* Romeo open the door
* Romeo can release the door handle or
* Romeo close the door and release the door handle
* Open-loop motion to go back in initial position
## Instruction
`$ roslaunch realsense_camera realsense_sr300.launch`
`$ roslaunch door_handle_detection door_handle_detection_realsense.launch`
`$ roslaunch visp_blobs_tracker visp_blobs_tracker_SR300.launch `
`$ roslaunch visp_naoqi_ros romeo_cmd_vel.launch`
`$ roslaunch demo_romeo_door demo_romeo_door.launch`