BrandonMan123 / digit_shear_force_estimation

A ROS Package that enables shear force estimation with Facebooks DIGIT Tactile sensors

digit_shear_force_estimation

A ROS Package that enables shear force estimation with Facebooks DIGIT Tactile sensors

demo

https://drive.google.com/file/d/1lFl928FAtotZ-w2F6MqtwLAZmR1IUUmk/view

Required dependencies: OpenCV Digit PRMessages

How to run:

1. Clone the repo (this repo is a workspace)
2. Run catkin build
3. Run source devel/setup.bash from the root directory
4. Run roscore
5. Run roslaunch digit digit.launch
6. Run rostopic echo \magnitude to get magnitudes
7. Optionally, run rosservice call /tare false to tare values to zero, or rosservice call /resetPoints false to reset which points optical flow tracks

How to do data collection:

1. Run steps 1-3 from the previous section
2. Make sure both the f/t sensor and the digit sensor are connected to the computer
3. Run roslaunch digit collect.launch
4. Optionally, run rosservice call wireless_ft/reset_bias to tare and rosservice call /tare false to tare the digit sensor
5. Run rostopic echo \forque\forqueSensor to get F/T sensor readings
6. Run rosbag record -a to collect data. The data is published to topics /sync_force_data, /sync_img_data and /sync_magnitude_data.