Robot Manipulation User Interface (RMUI)
This package is the source code of the following paper:
pip install scipy==1.2.3mkdir rmui_ws/src -p
cd rmui_ws/src
wget https://raw.githubusercontent.com/knorth55/rmui/master/fc.rosinstall -o .rosinstall
wstool update -j 2
rosdep install --ignore-src --from-path . -y -r
cd ..
catkin buildssh <your device>
mkdir rmui_ws/src
# for device
wget https://raw.githubusercontent.com/knorth55/rmui/master/device.rosinstall.${ROS_DISTRO} -o .rosinstall
wstool update -j 2
rosdep install --ignore-src --from-path . -y -r
cd ..
catkin buildcd rmui_ws/src
wstool merge knorth55/rmui/baxter.rosinstall
wstool update -j 2
rosdep install --ignore-src --from-path . -y -r
cd ..
catkin build# old one, rev 1
ssh -oHostKeyAlgorithms='ssh-rsa' pi@mtc1
# new one, rev 2.1
ssh -oHostKeyAlgorithms='ssh-rsa' pi@mtc2
# new one, rev 2.1
ssh -oHostKeyAlgorithms='ssh-rsa' pi@mtc3# single MTC
roslaunch rmui_demos pr2_rmui.launch
# multi MTC
roslaunch rmui_demos pr2_multi_rmui.launc scene_name:=x_aligned_two_jetsonsh# single MTC
roslaunch rmui_demos pr2_rmui_dummy.launch
# multi MTC
roslaunch rmui_demos pr2_multi_rmui_dummy.launch scene_name:=x_aligned_two_jetsons# for real robot
roslaunch jsk_baxter_startup baxter_softhand.launch# single MTC
roslaunch rmui_demos baxter_rmui.launch
# multi MTC
roslaunch rmui_demos baxter_multi_rmui.launch scene_name:=x_aligned_two_jetsons# for real robot
roslaunch jsk_baxter_startup baxter_softhand.launch# single MTC
roslaunch rmui_demos baxter_rmui_dummy.launch
# multi MTC
roslaunch rmui_demos baxter_multi_rmui_dummy.launch scene_name:=x_aligned_two_jetsonsPlease follow here
cd ~/Downloads
sudo dd bs=4M if=/dev/sde of=20211102_mtc2_melodic.img
sudo chown $USER: 20211102_mtc2_melodic.img
wget https://raw.githubusercontent.com/Drewsif/PiShrink/master/pishrink.sh
chmod +x pishrink.sh
LANG=en_US.UTF-8 sudo ./pishrink.sh 20211102_mtc2_melodic.img 20211102_mtc2_melodic_shrinked.img
tar czf 20211102_mtc2_melodic.img.tar.gz 20211102_mtc2_melodic.imgDownload img file.
tar xzf 20211102_mtc2_melodic.img.tar.gz
sudo dd bs=4M if=20211102_mtc2_melodic_shrinked.img of=/dev/sdesudo pip install rpi_ws281xFollow jgarff/rpi_ws281x#spi
For melodic, please do the following, too.
sudo apt install sysfsutils
sudo echo devices/system/cpu/cpu0/cpufreq/scaling_min_freq = 1000000 > /etc/sysfs.d/99-cpu-min.confrosrun rmui_drivers rmui_node.py-
~output/proximities: (force_proximity_ros/ProximityArray) -
~output/imu: (sensor_msgs/Imu)
rosrun rmui_drivers vcnl4040_node.py~output: (force_proximity_ros/ProximityStamped)
rosrun rmui_drivers bno055_node.py~output: (sensor_msgs/Imu)
rosrun rmui_drivers vcnl4040_multiplexa_node.py~output: (force_proximity_ros/ProximityArray)
rosrun rmui_drivers wx281x_node.py~input: (rmui_msgs/LED)
@ARTICLE{9483662,
author={Kitagawa, Shingo and Hasegawa, Shun and Yamaguchi, Naoya and Okada, Kei and Inaba, Masayuki},
journal={IEEE Robotics and Automation Letters},
title={Miniature Tangible Cube: Concept and Design of Target-Object-Oriented User Interface for Dual-Arm Telemanipulation},
year={2021},
volume={6},
number={4},
pages={6977-6984},
doi={10.1109/LRA.2021.3096475}
}