reconcycle/helping_hand

Copy of repository https://github.com/tgaspar/helping_hand.git for adapting

Helping Hand

A framework to facilitate kinesthetic teaching of robot motions.

Installation instructions

This installation guide assumes you have a working catkin workspace set up and all the ROS dependencies already installed

Clone the repository

Navigate to the src/ directory of your catkin workspace and clone this repo: git clone https://github.com/tgaspar/helping_hand.git

Initialize the workspace

Merge all the dependencies

$ wstool init

$ wstool merge helping_hand/dependencies.rosinstall

$ wstool up

Get the dependencies

The cloned dependencies should show up in your src directory. You can now proceed to query and install all libraries and packages:

$ rosdep install --from-paths . --ignore-src --rosdistro kinetic

Finally, build the packages:

$ catkin build

Usage

This package contains various tools to facilitate kinesthetic teaching of robots. However, the main tool is the provided GUI. To launch the GUI we suggest you use the provided launch file:

roslaunch helping_hand_gui gui.launch

helping_hand's Issues

Add dmp record tool to gui startup

Write code for on/off gravity compenstation