Training pipeline for joint estimation and control was addded

README.md

@@ -15,7 +15,7 @@ git clone https://github.com/ROBOTIS-GIT/open_manipulator_dependencies.git
 ```
 
 ## Getting started
-In order to run the project run the following commands:
+In order to run the project run the following commands (*in the future, once the pipeline is complete, the roslaunch files will be all run from one file*):
 
 ```
 cd catkin_ws
@@ -28,16 +28,23 @@ roslaunch open_manipulator_controller open_manipulator_controller.launch use_pla
 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.
+At the moment, there are currently three files that can be run - in the future the functionality will be combined. The first one (1) runs the video capture of the keypoints in real time and moving the robotic arm in Gazebo [*It is currently being debugged due to new functionality being added*]. The second one (2) is a keypoint capture program which saves the keypoints into a pickle file. Finally, (3) loads the saved keypoints (hence 2 and 3 have to be run in order for 3 to work) and visualizes them in RVIZ and calculates the manipulator keypoints. Currently, 1 and 3 use different approaches. The accuracy is currently being tested.
+
+1. Arm Keypoint Capture + Pose Estimation Control
 ```
-cd src/pose_estimation/scripts
-python3 pose_estimation.py
+roslaunch pose_estimation pose_estimation.launch
 ```
 
-## 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
+2. Capture Keypoints
+```
+roscd pose_estimation
+python3 capture_keypoints.py 
+```
 
-- [ ] Code documentation and clean code
+3. Visualize Keypoints
+```
+rviz
+roscd pose_estimation
+python3 visualize_keypoints.py
+```