CERTH Demos Package

Test CERTH configuration demo.

This demo is to verify that you have the right software and hardware configuration in order be able to run CERTH demos.
First you have to download and install our packages , Setup and Calibrate the Xtion3

In this demo the robot is going to grasp the cloth from the lowest point twice in order to unfold it. To do that you have to manually place a garment to R2 gripper.
The only restriction is that the cloth should not be really long , its better to place a pair of shorts. There should be no colision objects in front of the robot, tables, etc.

The launch sequence is as follows:

roslaunch clopema_launch start_robot.launch
roslaunch certh_launch unfold.launch
rosrun certh_unfolding lowestPointUnfolding r2

Unfolding demo.

In this demo the robot is going to unfold the garment using a method based on Hough forests. To do that you have to manually place a garment to R2 gripper.
The only restriction is that the cloth should not be really long , its better to place a pair of shorts. There should be no colision objects in front of the robot, tables, etc.

It is also needed to extract these files http://vision.iti.gr/clopema/forests.zip into .ros/certh_data folder.

The launch sequence is as follows:

roslaunch clopema_launch start_robot.launch
roslaunch certh_launch unfold.launch
rosrun certh_unfolding unfolding r2