Setup Instructions

• Create a catkin workspace

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/

• Clone the repo into catkin_ws/src, build the workspace and activate it

  git clone https://github.com/mihyr/robokinesis.git
  cd ~/catkin_ws/
  catkin_make
  source ~/catkin_ws/devel/setup.zsh

​Usage Instructions

• Initialization:

  • Define sensor inputs, desired topics, range, frequency, remote robot IP and port in the config/params.yaml file.

• Training & testing:

  • Create a dataset of actions and its corresponding raw sensor data

  • Train the model using the Perceptron node, using folliwong command:

    roslaunch robokinesis train.launch

  • The perceptron node will train the model and save it to the config/model.yaml file.

• Implementation:

  • Connect the robot to the wearable's IP and port, using rosbridge_suiteOpen external link

  • To control the robot, run following command on the wearable device:

    roslaunch robokinesis bringup.launch

  • Control the robot with actions used to the train model

​Dependencies

Author: Mihir PatelOpen external link