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Clone the Repositories:
cd ~/catkin_ws/src git clone http://github.com/yycho0108/st_r17_ros_driver.git
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Install the Dependencies:
rosdep update rosdep install st_r17_ros_driver --ignore-src
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Build the project:
catkin build st_r17_ros_driver
Refer to the instructions. The CAD design files are available here.
roscd st_r17_ikfast_plugin
# options : decimal rounding
./generate_ikfast_solver.shThe following are the most basic demonstrations of functions.
See the included packages such as st_r17_calibration or st_r17_gazebo for more involved demos.
roslaunch st_r17_moveit_config demo.launch
roslaunch st_r17_moveit_config move_group_interface.launchroslaunch st_r17_moveit_config hardware.launch
roslaunch st_r17_moveit_config demo.launch sim:=false
roslaunch st_r17_moveit_config move_group_interface.launchroscore
# run hardware ...
roslaunch st_r17_moveit_config hardware.launch rate:=20.0
ROS_NAMESPACE=stereo rosrun uvc_camera uvc_stereo_node _left/device:=/dev/video1 _right/device:=/dev/video2
# configure camera ...
uvcdynctrl -v -d video1 --set='Focus, Auto' 0
uvcdynctrl -v -d video2 --set='Focus, Auto' 0
uvcdynctrl -v -d video1 --set='Focus (absolute)' 0
uvcdynctrl -v -d video2 --set='Focus (absolute)' 0
# moveit ...
roslaunch st_r17_moveit_config demo.launch sim:=false
roslaunch st_r17_moveit_config move_group_interface.launch
# stereo ...
ROS_NAMESPACE=stereo rosrun stereo_filter stereo_filter left:=left/image_raw right:=right/image_raw left_info:=left/camera_info right_info:=right/camera_info _baseline:=0.63