In order to make the project compliant to ROS the original project is splitted in two folder and a third one is added, it is used to simulate an holonomic environment.
- Al these requirements must be satisfied: https://github.com/MoroMatteo/markerlessBoMI_FaMa/blob/main/README.md
In this case only the linux option must be used in order to be compliant to ROS and the step 7 is different in our case: the repository must be this one. We don't recommend to use a docker container, it should create issues with the camera input.
- ROS workspace with inside the three packages that are inside this repository
- Download the repository:
git clone https://github.com/Imdimark/Biomedical_Final - Compile the packages: inside the workspace launch
catkin_make - start the ROSCORE:
roscore & - launch the code:
rosrun biome main_reaching.py
The ROS component will be launched when you choose the "ROS GAME" option.
Two windows are opened:
- the simulation environment by stage_ros
- a button panel with 4 possible options
Every button is associated with a specific position, so in total we have 4 possible position (x, y). Every time the goal is reached, the success status is printed in the screen.