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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
    cd ~/catkin_ws/
    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_suite

    • 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


Author: Mihir Patel