curthenrichs / taltosoid_srf Goto Github PK

Develop a camera ROS interface for taltosoid to route a webcam worn on the wrist to a remote operator who uses taltosoid control interfaces to pilot robot.

Make provisions for a 3D camera as well.

Develop a motion tracking system to map a human generate a pose goal for relaxed-ik controlling taltosoid.

Discuss with Pragathi?

Current firmware is either stand-alone or relies on specific driver for older software system. Need to develop a new ROS based driver interface. Additionally, need to develop the software driver on the PC ROS side to control low-level driver.

Develop ROS node to capture and format all relevant control and sensor data for future machine learning tasks w autonomous taltosoid.

Output of node should be a CSV file with timestamped filename.

Current documentation is incomplete. Update with software architecture, setup, build instructions, extensions, etc.

Develop a web-based UI slider interface for rosbridge to directly control the state of the finger joints. Also provide a commit button which signals to wearer that state is ready.

Develop a finger with potentiometers that a teleoperator can wear/control w/ 1-to-1 mapping onto the SRF.

Restructure the project into hardware, ros_drivers, and control interfaces.