ada_meal_scenario

A set of scripts for a meal serving scenario using Ada.

generate_saved_trajectories.py

If the configuration of any fixed points (e.g. servingConfiguration) are changed, this must be run to cache new trajectories

runBiteServing.py (Marshmallow demo):

Note: in all terminals, first source devel/setup.bash. Each of the following commands happens in its own terminal.

1. Set up a roscore

   roscore

2. Make sure the Kinova USB joystick is plugged in, then launch it

   roslaunch ada_launch kinova_joystick.launch

3. Open rviz

   rosrun rviz rviz

4. Start the ADA controller (if running on real robot)

   roslaunch ada_launch default.launch

5. Make sure the depth camera is attached and powered on, then launch it

   roslaunch openni2_launch openni2.launch

   Note: The error "Unsupported color video mode" in red is ok

   At this point, the camera feed should be showing in rviz (subscribe to the /camera/depth/image topic).

6. Start the morsel detector

   cd src/morsel/detector/
   python biteserver.py structureio_settings.json verbose.json

7. Start the demo

   rosrun ada_meal_scenario runBiteServing.py --real --viewer=interactivemarker

At this point, a GUI should appear that allows you to select the operation mode. Select a mode (e.g., shared autonomy) and an input device (e.g., Kinova USB), then press the start next trial button.