Application for demonstrating surface blending with ROS.

Godel: Austrian logician and mathematician http://en.wikipedia.org/wiki/Kurt_G%C3%B6del

• Install wstool in order manage the repos inside the workspace

  sudo apt-get install python-wstool
  

• Cd into the 'src' directory of your catkin workspace and run the following:

  wstool init . 
  wstool merge https://github.com/ros-industrial-consortium/godel/raw/indigo-devel/godel.rosinstall
  wstool update
  rosdep install --from-paths . --ignore-src
  cd ..
  catkin_make
  

• Run blending demo in full simulation mode (simulated robot and sensor)

  roslaunch godel_irb2400_support irb2400_blending.launch
  

• Run blending demo in robot simulation mode (simulated robot and real sensor data)

  roslaunch godel_irb2400_support irb2400_blending.launch sim_sensor:=false
  

• Run blending demo in sensor simulation mode (real robot and simulated sensor)

  roslaunch godel_irb2400_support irb2400_blending.launch sim_robot:=false robot_ip:=[robot ip]
  

• Run blending demo in full real mode

  roslaunch godel_irb2400_support irb2400_blending.launch sim_sensor:=false 
  sim_robot:=false robot_ip:=[robot ip]
  

• Bring up Kinect2 sensor, if available:

  roslaunch godel_surface_detection kinect2.launch
  

This section contains instructions for performing extrinsic calibration of a camera (on the robot end effector) to the robot arm. This is only necessary if you are running on real hardware with the real sensor.

• Extrinsic calibration routines depend on the industrial_calibration package. Clone this package to your workspace.

• The industrial calibration library builds against libceres, an optimization library, whose installation instructions are available here.