icub_object_grasping

Recognition of Objects using AR Tags and Moving iCub Arm to Grasp The Object

Requirements

1. ROS : http://wiki.ros.org/
2. Yarp : http://www.yarp.it/
3. iCub : http://wiki.icub.org/

Install:

1. cd ~/catkin_ws/src
2. `git clone https://github.com/tunaonur/icub_object_grasping.git
3. cd ~/catkin_ws
4. catkin_make
5. cd ~/catkin_ws/src/icub_object_grasping/yarp
6. mkdir build && cd build
7. cmake ../
8. make

Run:

1. roscore
2. yarp server --ros
3. Run simulator: iCub_SIM
4. simCartesianControl --no_legs
5. iKinCartesianSolver --context simCartesianControl --part right_arm
6. roslaunch openni_launch openni.launch
7. roslaunch ar_track_alvar pr2_indiv.launch
8. cd ~/catkin_ws/src/icub_object_grasping/yarp/build and run ./yarp_pose
9. rosrun icub_object_grasping pose_transformer