blue_soylent

blue_soylent contains a repo to control a Blue robotic arm.

without directly interfacing with ROS. It uses rosbridge to communicate with Blue's ROS-based control system over a network connection.

Control examples

1. Tele-operation, 2. Inverse Kinematic

Installation Procedure

0. Clone this repo

git clone https://github.com/yusukeurakami/blue_soylent.git

1. Setup basic blue environment

https://github.com/berkeleyopenarms/blue_core

Guide https://docs.google.com/document/d/1MnyViCi9Tt03B9-3wZsePXXlKf7XiXHs0o6_c8z7at4/edit?usp=sharing

2. Install blue_interface with pip

git clone https://github.com/berkeleyopenarms/blue_interface.git
cd blue_interface
pip install -e .

3. Install Leap motion

Follow these.

https://forums.leapmotion.com/t/linux-install-of-sdk-fails/5158/6

https://github.com/robotlearn/pyrobolearn/blob/master/pyrobolearn/tools/interfaces/sensors/install_leapmotion_ubuntu.txt

4. Boot robot

Run either of follows and boot the real robot or the one in Gazebo.

Real-robot

roslaunch blue_bringup right.launch param_file:=/path/to/blue_configs/blue_right_v2.yaml

Gazebo

roslaunch blue_gazebo right.launch

5. run Example scripts (blue_soylent/examples)

• IK control python leap_controller.py --IK

• Tele-operation python leap_controller.py

API Documentation

https://blue-interface.readthedocs.io/en/latest/