diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..eff5c3281cf111279652ac994000ad80d5584f3a --- /dev/null +++ b/README.md @@ -0,0 +1,33 @@ +# Manipulator Control with Computer Vision + +## Description + +## Dependencies + +## Getting started +In order to run the project run the following commands: + +``` +cd catkin_ws +catkin_make +source devel/setup.bash +roscore +roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch +roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false +``` +It is important to run the two roslaunch commands as the former runs Gazebo simulation with the robotic arm, whereas the latter allows for control of the arm. +**IMPORTANT**: Before running the following scripts, it is important to press play at the bottom of Gazebo, otherwise the arm will not move. + +For now, the following command sets the arm to initial position, but it will also gather data from OpenCV, which will allow the program to move the arm in simulation. +``` +cd src/pose_estimation/scripts +python3 pose_estimation.py +``` + +## TODO +- [ ] Move only the end joint and calculate IK for the rest of the joints? +- [ ] SetJointPosition or SetKinematicPose +- [ ] Create a launch file instead of running all the `roslaunch` commands + +- [ ] Code documentation and clean code +