Merge pull request #173 from ethz-asl/feature/panda-on-gmp

Giraffe in sim with some calibration helpers
ethz-asl · May 27, 2024 · fa2c083 · fa2c083
2 parents 0be7be7 + 13fa65f
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diff --git a/.gitignore b/.gitignore
@@ -21,6 +21,7 @@ venv
 
 # Catkin stuff
 CATKIN_IGNORE
+compile_commands.json
 
 # Files that will be auto-generated on compile
 moma_demos/grasp_demo/config/yumi/gpd.cfg

diff --git a/moma_bringup/README.md b/moma_bringup/README.md
@@ -2,3 +2,14 @@
 
 This package contains launch files to start interfaces with the real robots.
 See the [wiki](https://github.com/ethz-asl/moma/wiki/Robots) for more information about our platforms.
+### Running handeye calibration (currently only in sim)
+
+Spawn the panda robot which contains an april tag:
+```console
+roslaunch moma_gazebo panda_moma_corner.launch
+```
+
+Then launch the interactive calibration planner:
+```console
+roslaunch moma_bringup move_group_sphere.py
+```