diff --git a/README.md b/README.md index 2be06c63fade4d19bd12bb45b812f02abcbc405a..bddd6d221bfe8a9571c46b49b59ce935c89359d0 100644 --- a/README.md +++ b/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 +```