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donghee / wearable_robot_eval

Demo for Weable Robot Evaluation System
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wearable_robot_eval

Install

  1. Build docker image
cd docker
docker build -t ghcr.io/donghee/wearable_robot_eval:foxy_nvidia_novnc . -f Dockerfile
  1. Run docker container

ROS2 foxy in docker

cd docker
./run.sh
  1. Run wearable robot evaluator in docker container
cd ~/ros2_ws/src/wearable_robot_eval
./run.eval.sh

TODO: Add evaluation screenshot

Testing: 1 DOF ARM

Run wearable robot in Gazebo

  1. Load human model
cd ~/ros2_ws && colcon build && source ./install/setup.bash && ros2 launch wearable_robot_gazebo human_only.launch.py
  1. Load wearable robot model on human model
cd ~/ros2_ws && colcon build && source ./install/setup.bash && ros2 launch wearable_robot_gazebo eduexo_only.launch.py
  1. Move wearable robot
cd ~/ros2_ws && python3 src/wearable_robot_eval/wearable_robot_description/scripts/1_dof_arm_gazebo_test.py -2.5