Assistive Robot for Total Knee Arthroplasty
Clone the package
mkdir ~/<ros2_ws>
cd ~/<ros2_ws>/src
git clone [email protected]:team-paradocs/tekkneeca.git
Grant docker permission
sudo groupadd docker
sudo gpasswd -a $USER docker
newgrp docker
Set X11 forwarding
xhost +local:docker
Build the image
./docker/docker_build.sh
Run the image with hardware
./docker/docker_run.sh
Run the image without Arduino
./docker/docker_run_camera_only.sh
Run the image without hardware
./docker/docker_run_sim.sh
Attach a new terminal to current container
./docker/docker_terminal.sh
If you encounter "Authorization required, but no authorization protocol specified" failure, run X11 forwarding again
xhost +local:docker
If you cannot connect to Arduino
chmod 777 /dev/ttyACM0
Inside docker container
ros2 launch paradocs_control tekkneeca.launch.py
In another container terminal
ros2 run regpipe_ros pcd_sampipe
Added SAM (segment-anything-2) to the src folder
Checkpoints are not included so download them manually.
./docker/get_ckpts.sh
Note - Only downloads the small and large models. If you want additional models, modify segment-anything-2/checkpoints/download_ckpts.sh