Authors: Eddie Edwards ([email protected]), Kefeng Huang, Bowie (Heiyin) Wong, Dimitrios Kanoulas, Luke Beddow, Denis Hadjivelichkov

Description: This package forms the base ROS workspace for the module COMP0250 (formerly COMP0129): Robotic Sensing, Manipulation and Interaction.

Pre-Requisites

sudo apt install ros-noetic-franka-ros ros-noetic-libfranka

Gazebo physics simluator is also needed (http://gazebosim.org/). This can be installed and then run with:

curl -sSL http://get.gazebosim.org | sh
gazebo

Installation

git clone --recurse-submodules https://github.com/surgical-vision/comp0250_s25_labs.git

cd comp0250_s25_labs

git submodule update --init --recursive

catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release

catkin build

Run Panda robot Gazebo and rviz

source devel/setup.bash

roslaunch panda_description description.launch

Package Preparation (not to be ran by students):

mkdir src
git submodule add https://github.com/COMP0129-UCL/panda_moveit_config.git src/panda_moveit_config
git submodule add https://github.com/COMP0129-UCL/panda_description.git src/panda_description
git submodule add https://github.com/RPL-CS-UCL/realsense_gazebo_plugin.git src/realsense_gazebo_plugin 
git submodule add https://github.com/RPL-CS-UCL/rpl_panda_with_rs.git src/rpl_panda_with_rs

License

LICENSE: MIT. See LICENSE.txt

DISCLAIMER:

THIS INFORMATION AND/OR SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS INFORMATION AND/OR SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Copyright (C) 2019-2024 Dimitrios Kanoulas and Eddie Edwards except where specified