Kinova Arm Controller - OpenTeach

This repository contains the information to setup the ROS Noetic based controller part of OpenTeach to control the Kinova Arm.

Contents

1. Requirements
2. Launching the Controller

Installation Requirements

1. Kinova SDK
2. Kinova JACO Arm

Installing the Kinova SDK

We need to setup the Kinova SDK before we make the C binaries for the controller. You can download the SDK from https://drive.google.com/u/0/uc?id=1UEQAow0XLcVcPCeQfHK9ERBihOCclkJ9&export=download. You should be able make the controller binaries and run the controller after this step.

Launching the Controller

After installing the Kinova SDK, install this repo within the base controller package and run catkin_make from the base directory (where you have both - Kinova JACO arm controller and Allegro Hand controller). Do the following from this directory:

cd <base-controller-dir>
catkin_make

After you make the binaries, you need to source the setup files using the below command:

source <base-controller-dir>/devel/setup.bash

Then you can launch the Kinova Arm's roslaunch file to start controlling the robot.

roslaunch kinova_arm kinova_robot.launch

@misc{iyer2024open,
      title={OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation}, 
      author={Aadhithya Iyer and Zhuoran Peng and Yinlong Dai and Irmak Guzey and Siddhant Haldar and Soumith Chintala and Lerrel Pinto},
      year={2024},
      eprint={2403.07870},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}