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This code is currently unusable due to changes in V-REP 3.5.

Vrep_RosInterface_teleop

V-rep and ROS used to create a teleoperation system with Baxter to learn from demonstrations. Here is a small video clip as an example.

Prerequisites

Guide to install and setup these are given here

To setup

  • Clone this project in the same catkin workspace as used for the RosInterface.
  • Open meta/messages.txt of vrep_ros_interface package and add
  vrep_teleop/Joints
  • In CMakeLists.txt of vrep_ros_interface package add 'vrep_teleop' to the list of package names in catkin_package().
  • Open package.xml, and add these two lines:
  <build_depend>vrep_teleop</build_depend>
  <run_depend>vrep_teleop</run_depend>    
  • Rebuild your catkin workspace using
  $ catkin build
  • Copy the library file libv_repExtRosInterface.so in devel/lib folder to your V-REP installation folder.
  $ cp -iv devel/lib/libv_repExtRosInterface.so "$VREP_ROOT/"
  • Copy the matrix.lau file in vrep/lua to the lua folder of your V-REP installation folder.
  $ cp -iv src/vrep_teleop/vrep/lua/matrix.lua "$VREP_ROOT/lua/"

To use teleoperation and record

  1. Start baxter and from your Baxter Workspace run
  ./baxter.sh
  1. Enable the baxter:
  rosrun baxter_tools enable_robot.py -e
  rosrun baxter_tools tuck_arms.py -u
  1. Open another terminal repeat step 1. Then start V-REP and open vrep/scenes/baxterTeleopRecording.ttt
  2. Open another terminal repeat step 1. Then run the python script script/teleop_data_logging.py if you wish to record the data

Other

  • Some sample data are given in vrep/SampleData/.
  • Scripts for using the saved data are there in script/ folder.
  • Read the instruction at the beginning of the scripts.

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