README.md

icub_arm_imitator

Following Human Arm in iCub Simulation

Requirements

1. ROS : http://wiki.ros.org/
2. Yarp : http://www.yarp.it/
3. iCub : http://wiki.icub.org/

Install:

1. cd ~/catkin_ws/src
2. git clone https://github.com/tkelestemur/icub_arm_imitator.git
3. cd ~/catkin_ws
4. catkin_make
5. cd ~/catkin_ws/src/icub_arm_imitator/yarp
6. mkdir build && cd build
7. cmake ../
8. make

Run:

1. roscore

2. yarp server --ros

3. Run simulator: iCub_SIM

4. simCartesianControl --no_legs

5. iKinCartesianSolver --context simCartesianControl --part right_arm

6. cd ~/catkin_ws/src/icub_arm_imitator/yarp/build and run ./arm_imitator

7. To get data from Kinect V2 Server run:
   rosrun kinect_client joints --ip 144.122.225.164 and rosrun kinect_client tf_publisher

8. rosrun icub_ros joint_transformer

9. or directly run roslaunch icub_arm_imitator arm_imitator.launch