Demonstrate APC2015 on Real WorldΒΆ
Real world demonstration for APC2015 can be done on baxter@sheeta.jsk.imi.i.u-tokyo.ac.jp
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- Prepare json.
- Setup objects in Kiva.
baxter@sheeta $ roscd jsk_apc && git checkout 0.2.2
baxter@sheeta $ roslaunch jsk_2015_05_baxter_apc baxter.launch
baxter@sheeta $ roslaunch jsk_2015_05_baxter_apc setup_torso.launch
baxter@sheeta $ ssh doura
baxter@doura $ tmux
baxter@doura $ roscd jsk_apc && git checkout 0.2.2
# on a tmux session
baxter@doura $ sudo -s # necessary for launch kinect2 with ssh login
baxter@doura $ roslaunch jsk_2015_05_baxter_apc setup_head.launch
# detach from the tmux session and logout from doura here
baxter@sheeta $ roslaunch jsk_2015_05_baxter_apc main.launch json:=$(rospack find jsk_2015_05_baxter_apc)/json/layout_12.json
# optional visualization
$ rviz -d $(rospack find jsk_2015_05_baxter_apc)/rvizconfig/segmentation.rviz # check object segmentation in each bin
$ rviz -d $(rospack find jsk_2015_05_baxter_apc)/rvizconfig/real_demo.rviz # visualization for demo
https://github.com/start-jsk/jsk_apc/blob/master/jsk_2015_05_baxter_apc/json/layout_12.json