clicksight

Collection of github repositories used to faciliate simple and efficient robot workspace setup.

Main system components

System for easy robot workspace setup consists of:

• motion capture system
• kalipen
• robot arm

Prerequisites

• PC with bluetooth
• Linux xyz
• Optitrack mocap system

Init repository

After cloning repository, run:

git submodule update --remote 

to fetch newest updates to the system.

Robot arm setup:

In order to start robot arm, you first need to build docker image for the robot manipulation. To do so, after updating git submodules, run following commands:

cd ./ros-noetic/for_course_lab/or2324
docker build -t for_img . 

After image is sucessfuly built, you can run it with:

./first_run.sh

TODO:

• [arm control] Develop arm control for following straight paths (MoveIt! impl)
• [kalipen] Test kalipen functionality
• [perception] Scan matching algorithm to setup STL
• [perception] Draw obstacles
• [perception] Test scan matching
• [experimental] Define experiments
• [docs] Add docs for using the system
• [docs] How to run optitrack
• [docs] How to run kalipen
• [docs] How to run robot arm