This project is designed to have a tactile sensor equipped gripper follow a cable. This is a continuation of the work started in an OSU ROB 537 final project.
First, connect the gripper via USB. If using a Docker container, be sure to connect the USB before starting the container (or restart the container).
Launch the gripper bringup with:
roslaunch contactille_gripper gripper_bringup.launchThis will identify ports for the Contactille sensors and Dynamixel controlller, and start feedback and control nodes.
Credit to Kyle Mathenia for the gripper ROS code. Check out his original code here.
Need to add pip install ordereddict
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=169.254.177.232 kinematics_config:="/root/cindys_ur5e_calibration.yaml" roslaunch ur5e_moveit_config moveit_planning_execution.launch roslaunch ur5e_moveit_config moveit_rviz.launch
roslaunch ur_calibration calibration_correction.launch
pip install scikit-image
Launch these: roslaunch contactile_gripper gripper_bringup.launch rsrun trial_control get_picture.py rosrun trial_control record.py rosrun trial_control cable_follow_trials.py
pip install setuptools -U python2 -m pip install install protobuf==3.17.3 python2 -m pip install install tensorflow-gpu==1.12.0