This package contains the source code for the skeleton tracking and communication for fabric folding using the Adept Scara robot, the Kinect openni2_tracker ROS package and a vision sensor.
This package requires ROS Hydro or Indigo, Ubuntu 12.04 or 14.04, the openni2_tracker package with an appropriate sensor (Asus Xtion PRO Live). Also for the serial communication the LibSerial library is required (which can be found in the Debian/Ubuntu Repositories).
To install all the required modules:
- Install ROS.
- Create a catkin workspace
#!bash
mkdir -p ~/raad2015_ws/src
cd ~/raad2015_ws/src
source /opt/ros/hydro/setup.bash
catkin_init_workspace
- Clone the required repositories
#!bash
git clone git@github.com:roboticsgroup/openni2_tracker.git
git clone git@bitbucket.org:roboticsgroup/hand_publisher.git
cd .. && catkin_make
- Configure the transformations and launch the required launch files