leaf_follower

Using GelSight and UR5e to follow a leaf

Quick start

Requires docker

git clone --recurse-submodules https://github.com/purdue-mars/leaf_follower.git
cd leaf_follower

Pull docker image docker pull raghavauppuluri/leaf-follower
Run docker image cd docker && ./docker-run.sh (must be in docker folder when sh file is executed)
Run roslaunch leaf_following_control bringup.launch brings up dynamixel driver, gelsight, ur interface
In another shell, run cd docker && ./docker-join.sh
Run rosrun leaf_following_control controller.launch runs following controller and grasp controller

Name		Name	Last commit message	Last commit date
Latest commit History 12 Commits
docker		docker
leaf_following_control		leaf_following_control
third_party		third_party
.gitmodules		.gitmodules
README.md		README.md