RBE_595_Project

Modules to import before running

Make sure all imports are for python 2 for ROS

python -m pip install -U pip

python -m pip install -U matplotlib

pip -m install numpy

pip -m install numpy-stl

Add models directory to Gazebo path

add following line to ~/.bashrc but change it to be relative to your directories

export GAZEBO_MODEL_PATH="{PATH_TO_PROJECT}/RBE_595_Project/pcl_node/models/"

Running the code

First run catkin make in your workspace

• Note: must be catkin make not catkin build, if you previously ran build, delete your build and devel folders and run catkin make

In pcl_node/launch/camera.launch, uncomment the line for the object you want to display. Then run the launch file

roslaunch pcl_node camera.launch

Next run the pcl_node with the parameter for the shape to segment as follows

1: Cylinder
2: Sphere
3: Cone
4: Box

rosrun pcl_node ShapeFinder _shape:=SHAPE_NUMBER_HERE

Lastly, run the python node to display the grasps

roslaunch shape_node shape_node.launch