human_arm

A ROS+Gazebo simulation package to control a human-like arm via:

• Keyboard
• IMU

This package uses scripts developed in Cube-Visualization. Sensor data for IMU control is transmitted via the AndyIMU-2 android application.

Commands

To view the robot in RViz

roslaunch human_arm display-rviz.launch

To control the bot via keyboard in Gazebo:

roslaunch human_arm human_arm_gazebo.launch
rosrun human_arm key_control.py

For help, press h

To control the bot via android IMU in Gazebo:

roslaunch human_arm human_arm_gazebo.launch
rosrun human_arm a_imu_control.py

Custom sensor fusion algorithm can be written in the file d_sensorFusion.py. For more instructions, check this.