Bottle_Segmentation/CMH_DEMO_LAUNCH at main · UW-Advanced-Robotics-Lab/Bottle_Segmentation · GitHub

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ON JETSON:

roslaunch wam_node wam_node.launch

roslaunch waterloo_steel_supervisor multi_intel_camera_d455.launch enable_base:=true enable_color:=true enable_EE:=true enable_accel:=false enable_gyro:=false


ON YOUR COMPUTER:

roslaunch barrett_moveit_fresh move_group.launch

roslaunch aruco_ros aruco_realsense.launch camera_sim:=true camera_image_remap:=/cam_base/color/image_raw camera_info_remap:=/cam_base/color/camera_info

rosrun barrett_moveit_fresh CMH_Demo.py


AUTONOMOUS MOVING INFO


PICK AND PLACE POSITION:

rostopic echo /uwarl/amcl_pose

header:
  seq: 270
  stamp:
    secs: 1737572794
    nsecs: 297514000
  frame_id: "uwarl_map"
pose:
  pose:
    position:
      x: 1.1165759913412285
      y: -1.127147747086804
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.717253833797434
      w: 0.6968119817446331