# nuc_code

**Repository Path**: QiSheng918/nuc_code

## Basic Information

- **Project Name**: nuc_code
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-16
- **Last Updated**: 2022-01-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 按摩机器人系统手法执行模块



## Packages
* ***jaka_ros*** JAKA机器人ROS相关包
* ***massage_hand_communicate*** 按摩头ROS驱动
* ***robotiq*** Robotiq ft300 ROS驱动
* ***sensor_process*** 力矩数据处理相关包


## Install
1. open a terminal and git clone this reponsitory to your workspace/src
2. open a terminal and run
    ```shell
    git submodule init && git submodule update
    ```
    ```shell
    sudo apt-get update
    sudo apt-get install ros-${ROS_DISTRO}-serial* ros-${ROS_DISTRO}-soem* ros-${ROS_DISTRO}-ur-msgs
    ```
3. catkin_make

## Usage
1. open a terminal and run
```shell
roslaunch jaka_driver jaka_pre.launch
```

2. open a terminal and run
```shell
roslaunch jaka_driver jaka_start.launch
```

## 注
如果要重新标定力矩传感器，标定流程为:
1. open a terminal and run
```shell
roslaunch jaka_controller_tcp_ros jaka_bringup.launch
```

2. open a terminal and run
```shell
roslaunch wrench_filter wrench.launch
```


3. open a terminal and run
```shell
roslaunch gravity_compensate gravity_identify.launch
```

## Development
* ubuntu18.04+ros-melodic
* ubuntu16.06+ros-kinetic