franka_realsense_test

Instructions

1. Start a rosmaster in a terminal.

   roscore
   

2. Go to the launch folder in this package and start the realsense.

   cd ~/franka_realsense_test/launch
   roslaunch realsense.launch
   

3. Check that the realsense is running using rqt_image_view or rqt or rviz.

   rqt_image_view
   

4. Rostopic echo the camera_info and make sure the config/realsense.intr file matches the output (The first number in K is fx, the third number in K is cx, the fifth number in K in fy, and the 6th number in K is cy).

   rostopic echo /camera/color/camera_info
   

5. Start Frankapy as usual.

   cd Prog/frankapy
   ./bash_scripts/start_control_pc.sh -u student -i iam-<robot_name>
   

6. Enter the virtual environment and enter this folder.

   senv
   cd ~/franka_realsense_test
   

7. Run the example script with a wooden block on the table.

   python scripts/pick_up_using_realsense.py
   

8. Click on the center of the block in the image that pops up and then press enter.
9. The robot should go pick up the top of the block.