ws23-feedback-pouring

Pouring the liquid/cereals using Kinnova arm with force estimation feedback

Setup

Create a workspace in your local machine

mkdir ~/feedback_pouring && cd ~/feedback_pouring

mkdir src
mkdir build

clone the repository in src

cd ~/feedback_pouring/src
git clone https://github.com/HBRS-SDP/ws23-feedback-pouring.git .

Adding kdl-parser

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

# clone this inside the repository

# kdl-parser
sudo apt-get install libkdl-parser-dev

#urdf
sudo apt-get install liburdfdom-dev

Build

cd ~/feedback_pouring/build

# cmake
cmake ../src/

# build
cmake --build .

run

cd ~/feedback_pouring/outputs/feedback_pouring

# run the executable file
./filename