https://github.com/stevemacenski/helix_exp
Package supporting the ABB Helix Experiments with elastic rods. Realsense R200, ABB IRB 120.
https://github.com/stevemacenski/helix_exp
Last synced: about 2 months ago
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Package supporting the ABB Helix Experiments with elastic rods. Realsense R200, ABB IRB 120.
- Host: GitHub
- URL: https://github.com/stevemacenski/helix_exp
- Owner: SteveMacenski
- Created: 2017-01-18T21:43:09.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-04-30T00:59:04.000Z (about 8 years ago)
- Last Synced: 2025-01-28T15:26:10.854Z (4 months ago)
- Language: C++
- Size: 6.69 MB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 1
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Metadata Files:
- Readme: README.md
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README
# Collection Pipeline NEW:
Get cameras placed well and put tag on EE R1 (Rosey). 110 cm from ground on tape.
> roslaunch realsenseCamera_aprilTags realsense_apriltags.launch
> rosrun image_view image_view image:=/usb_cam/image_raw
Then,
> roslaunch helix_exp helix_calib_multi.launch
Them, remove calibration piece.
> roslaunch helix_exp helix_exp.launch
Will run the paths in the "robot_paths.txt" file in experimental_data_and_errors. Once in home pose waiting to start, connect the rod.
After, take the result_images, errors.txt, robot_paths.txt, and calibration file and zip them onto the external drive. in errors 3=good
# Pose Process Pipeline:
copy the result_images folder to home directory
place Makefile, im_seg.cpp, and post_process.sh in folder
> make
Then run this shell command:
> for file in *' '*; do [ -f "$file" ] && mv "$file" "`echo $file|tr -d '[:space:]'`"; done
To remove spaces in filenames. Make a file "rodPoints.txt".
Make the im_seg file to 'segm'
> ./post_process.sh
runs the post_process for all .bmp files in directory, stores the ROIandPnts images for troubleshooting, then rodPoints.txt file for the points.
Zip folder and place this and the raw data into a descriptive folder name on the external drive