Installation

catkin build franka_ros
catkin build franka_control_wrappers panda_control robot_helpers
catkin build vgn
catkin build active_grasp

pip install -r requirements.txt

If you meet any problems during the installation, please refer to VGN and active_grasp.

Hardware Dependencies

franka_ros version: 0.10.1

libfranka_version: 0.8.0

roscore
roslaunch active_grasp env.launch sim:=true
python3 scripts/run.py nbv

roscore
roslaunch active_grasp hw_peter.launch
roslaunch active_grasp env.launch sim:=false
python3 scripts/run.py nbv