LeapMotion-Ros-Telemanipulation
Telemanipulation using Leap Motion devices on a ROS Panda robot.
Requirements:
-
1x Leap Motion Controller
Setup:
Install The required software.
Follow ROS tutorials on setting up a catkin workspace.
Install Leap Motion SDK and MoveIt! package into catkin workspace and build with 'catkin make'.
Download the application script 'pyMoveGroup.py' and place it into a new folder within catkin/src/moveit_tutorials.
Navigate to the script location and make it executable with 'sudo chmod +x'.
-
Terminal -> sudo Leapd
-
Terminal -> roscore
-
Terminal -> roslaunch leap_motion demo.launch
-
Terminal -> roslaunch panda_moveit_config demo.launch
-
Terminal -> rosrun moveit_tutorials pyMoveGroup.py
-
Use right hand to move robot. Use GUI reset button to move robot back to original position.
-
Control robot gripper with left hand pinch gesture. (Thumb and Index)
(Optional) Terminal -> LeapControlPanel
Edit dpRound value to change hand movement threshold.
self.dpRound = 1 #3 Decimal Points for Rounding