OpenManipulator_with_IntelRealSense_GazeboPlugin

pre-requirements to be installed

• Ros-melodic
• catkin

To setup the catkin workspace follow the commads

1. create a folder catkin_ws
   mkdir catkin_ws && cd catkin_ws
2. create a src directory
   mkdir src && cd src
3. clone the repository in the src
   git clone https://github.com/aku98/OpenManipulator_with_IntelRealSense_GazeboPlugin.git
4. go to the catkin_ws repository and build the files
   cd ~/catkin_ws && catkin_make

How to run

1. open a terminal and setup the source for the workspace
   cd ~/catkin_ws/devel && source setup.sh
2. run the launch file for openmanipulator controller and sepcify value for platform parameter to use in gazebo
   roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false
3. in another terminal launch the gazebo simulator with bot and camera
   empty world
   roslaunch open_manipulator_gazebo open_manipulator_gazebo.launch
   world with objects
   roslaunch open_manipulator_gazebo open_manipulator_gazebo_table.launch
4. start the simulation by clicking the play button at the bottom in gazebo simulator
5. to operate the openManipulator bot using keyboard roslaunch open_manipulator_teleop open_manipulator_teleop_keyboard.launch

To monitor the depth data using Rviz

1. open rviz in another terminal
   rosrun rviz rviz
2. set the fixed frame id to color under the global option
   
3. subscribe to the depth data by adding DepthCloud Bytopic
   

To record the depth data in rosbag

1. create a directory for rosbag file
   mkdir rosbag_files && cd rosbag_files
2. After following the steps to launch the siimulator run this command in new terminal
   rosbag record -a
   this will record all the data from all the topics published by ros master
   
   To record the specific topic mention them instead of -a in the above command
   
   all the published topics can be viewed using the command
   rostopc list