Closed knorth55 closed 1 year ago
this PR add eus_teleop package for robot teleoperation and telemanipulation
eus_teleop
Please see README.md for more detailed info.
https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b5cc-d05a111a187b.mp4
rossetip rossetmaster pr1040 # HMD mode roslaunch eus_teleop pr2_vive.launch # No HMD mode roslaunch eus_teleop pr2_vive.launch head:=false
roslaunch pr2_gazebo pr2_empty_world.launch roslaunch eus_teleop pr2_vive_gazebo.launch
(simulator)
https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-931f-2a9fc9e062a0.mp4
(real robot)
https://drive.google.com/file/d/1U7BnsEK5j5jWDCsuhvioo21u30YasvTr/view?usp=share_link https://drive.google.com/file/d/1xHRf7cN0O6TqJ9_x4NUk6oKtRZp3VsMW/view?usp=share_link
rossetip rossetmaster pr1040 roslaunch eus_teleop pr2_tablis.launch
roscd eus_teleop/scripts/tablis ./start-tablis-sim.sh
roscd eus_teleop/scripts/tablis ipython -i tablis_setup.py hcf.servoOn() hcf.hc_svc.startHapticsController()
roscd eus_teleop/scripts/tablis ./start-bridge-sim.sh
roslaunch pr2_gazebo pr2_empty_world.launch roslaunch eus_teleop pr2_tablis_gazebo.launch
https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-934a-97a4296fdc49.mp4
rossetip rossetmaster pr1040 roslaunch eus_teleop pr2_spacenav.launch
roslaunch pr2_gazebo pr2_empty_world.launch roslaunch eus_teleop pr2_spacenav_gazebo.launch
https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b759-0233fff41d94.mp4
rossetip rossetmaster baxter # HMD mode roslaunch eus_teleop baxter_vive.launch # No HMD mode roslaunch eus_teleop baxter_vive.launch head:=false
roslaunch baxter_gazebo baxter_world.launch roslaunch eus_teleop baxter_vive_gazebo.launch
https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-be51-521c0c7af8a2.mp4
rossetip rossetmaster baxter roslaunch eus_teleop baxter_tablis.launch
roslaunch baxter_gazebo baxter_world.launch roslaunch eus_teleop baxter_tablis_gazebo.launch
rossetip rossetmaster baxter roslaunch eus_teleop baxter_spacenav.launch
roslaunch baxter_gazebo baxter_world.launch roslaunch eus_teleop baxter_spacenav_gazebo.launch
rossetip rossetmaster baxter roslaunch eus_teleop baxter_moveit.launch
https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9738-7efdf5649093.mp4
roslaunch dragon bringup.launch simulation:=true real_machine:=false headless:=false roslaunch eus_teleop dragon_spacenav_gazebo.launch
https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b892-66752effe41d.mp4
roscd eus_teleop/scripts/jaxon ./start-jaxon_with_rhp3hand-sim.sh
roscd eus_teleop/scripts/jaxon ipython -i jaxon_with_rhp3hand_setup.py hcf.ast_svc.startAutoBalancer() hcf.ast_svc.startStabilizer() hcf.ast_svc.startWholeBodyMasterSlave()
roslaunch eus_teleop jaxon_spacenav_choreonoid.launch
https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b00a-f367bbbcb40d.mp4
roscd eus_teleop/scripts/jaxon ./start-jaxon-eus-teleop-sim.sh
roslaunch eus_teleop jaxon_tablis_choreonoid.launch
cc. @pazeshun @Naoki-Hiraoka @Kanazawanaoaki
this PR add
eus_teleop
package for robot teleoperation and telemanipulationDemos
Please see README.md for more detailed info.
PR2 + Vive
https://user-images.githubusercontent.com/9300063/213145161-4b2acb89-9545-460a-b5cc-d05a111a187b.mp4
PR2 + Vive in JSK 73B2 or 610
PR2 + Vive in Gazebo
PR2 + Tablis
(simulator)
https://user-images.githubusercontent.com/9300063/208720417-176d698e-3789-42a8-931f-2a9fc9e062a0.mp4
(real robot)
https://drive.google.com/file/d/1U7BnsEK5j5jWDCsuhvioo21u30YasvTr/view?usp=share_link https://drive.google.com/file/d/1xHRf7cN0O6TqJ9_x4NUk6oKtRZp3VsMW/view?usp=share_link
PR2 + Tablis in JSK 73B2 or 610
PR2 + Tablis in Gazebo
Launch Tablis in Choreonoid
Launch bridge
Launch PR2 in Gazebo
PR2 + SpaceNav
https://user-images.githubusercontent.com/9300063/213137459-ce5f7075-acee-4a47-934a-97a4296fdc49.mp4
PR2 + SpaceNav in JSK 73B2
PR2 + SpaceNav in Gazebo
Baxter + Vive
https://user-images.githubusercontent.com/9300063/213144997-0d224d5c-b462-43a7-b759-0233fff41d94.mp4
Baxter + Vive in JSK 73B2
Baxter + Vive in Gazebo
Baxter + Tablis
https://user-images.githubusercontent.com/9300063/208720482-b7ef0abb-e948-448c-be51-521c0c7af8a2.mp4
Baxter + Tablis in JSK 73B2 or 610
Baxter + Tablis in Gazebo
Launch Tablis in Choreonoid
Launch bridge
Launch Baxter in Choreonoid
Baxter + SpaceNav
Baxter + SpaceNav in JSK 73B2
Baxter + SpaceNav in Gazebo
Baxter + MoveIt!
Real Robot in JSK 73B2
Dragon + SpaceNav
https://user-images.githubusercontent.com/9300063/210754022-7df92fd5-4875-4465-9738-7efdf5649093.mp4
Dragon + SpaceNav in Gazebo
JAXON + SpaceNav
https://user-images.githubusercontent.com/9300063/212047815-e1f2a5ed-cf51-4782-b892-66752effe41d.mp4
JAXON + SpaceNav in Choreonoid
Launch JAXON in Choreonoid
Launch eus_vive for SpaceNav
JAXON + Tablis
https://user-images.githubusercontent.com/9300063/212932317-407102d1-093f-4729-b00a-f367bbbcb40d.mp4
JAXON + Tablis in Choreonoid
Launch Tablis in Choreonoid
Launch JAXON in Choreonoid
Launch bridge and wbms core
Launch eus_vive for Tablis
cc. @pazeshun @Naoki-Hiraoka @Kanazawanaoaki