https://github.com/lagadic/vs_grasping_pepper
Node Ros for a grasping demo with Pepper
https://github.com/lagadic/vs_grasping_pepper
Last synced: over 1 year ago
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Node Ros for a grasping demo with Pepper
- Host: GitHub
- URL: https://github.com/lagadic/vs_grasping_pepper
- Owner: lagadic
- Created: 2016-11-30T15:46:36.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2017-08-10T14:58:21.000Z (almost 9 years ago)
- Last Synced: 2024-03-26T05:44:52.436Z (about 2 years ago)
- Language: C++
- Size: 51.8 KB
- Stars: 4
- Watchers: 11
- Forks: 3
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# Grasping demo with Pepper
In this demo Pepper has to track a box and grasp it. Demo under construction.
## Instructions using pepper_sensor_py to get images:
### Launch camera, whycon and hand pose estimation:
`$ roslaunch pepper_launch hand_pose_camera_bottom.launch`
### Launch demo grasping
`$ roslaunch vs_grasping_pepper pbvs_arm_servo_right.launch`
### Launch MBT for the box
`$ roslaunch pepper_launch mbt_tabasco.launch`
## Instructions using naoqi_driver to get images:
### Publish images from pepper:
`$ roslaunch pepper_launch pepper_full_wifi.launch`
### Launch whycon and hand pose estimation:
`$ roslaunch pepper_launch hand_pose_camera_bottom_naoqi_driver.launch`
### Launch MBT for the box
`$ roslaunch pepper_launch mbt_tabasco_naoqi_driver.launch`