LM-Move

Welcome to the Leap Motion branch! Please make sure to review and meet the requirements before attempting to move on to further steps. If there's any issues I'm happy to help.

1. Requirements

• Ubuntu 16.04
• Leap Motion SDK (v2 Tracking)
• Robot Operating System
• leap_motion
• Universal Robot Note: Use the catkin method! We are on Ubuntu 16.04 which is ABOVE 14.04
• MoveIt!

2. leap_motion Setup

1. Replace leapd.service

2. Install the SDK. If you're getting Errors were encountered while processing: leap:i386 when you try to install (e.g. sudo dpkg -i Leap-2.3.1+31549-x86.deb) it means you have not done step 1.

3. From the SDK archive you downloaded and installed in Step 1 extract LeapSDK folder in to your home directory

4. After placing LeapSDK folder from the SDK archive in home directory:
   export PYTHONPATH=$PYTHONPATH:$HOME/LeapSDK/lib:$HOME/LeapSDK/lib/x64

5. Install the ros package leap_motion
   sudo apt-get install ros-kinetic-leap-motion

These instructions are also available on the ros wiki (check leap_motion under requirements)

3. Cloning this branch

1. Navigate to ~/catkin_ws/src or wherever your catkin_ws folder is located.
2. git clone https://github.com/xylust/teleop-robot.git
3. Navigate to ~/catkin_ws/src/teleop-robot/launch and continue with the below.

You might need to catkin_make before attempting to launch

4. Starting

Please check /modified_leapd/

Enable Leap Motion SDK:
Terminal -> sudo leapd
Start roscore:
Terminal -> roscore
Enable the leap_motion sender:
Terminal -> rosrun leap_motion sender.py Launch the program:
Terminal -> source ~/catkin_ws/devel/setup.bash && roslaunch ur5_lm_move.launch (when in the launch directory)

Control Panel from Leap Motion SDK:
(optional) Terminal -> LeapControlPanel
See the data being sent:
(optional) Terminal -> rostopic echo /leapmotion/data | grep "palmpos" -A 3

Notes

Robot icon made by Smartline from Flaticon, licensed by CC 3.0 BY