tekkneeca

Assistive Robot for Total Knee Arthroplasty

Installation

Clone the package

mkdir ~/<ros2_ws>
cd ~/<ros2_ws>/src
git clone git@github.com: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

Usage

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

Trouble shooting

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

Launch the system

Inside docker container

ros2 launch paradocs_control tekkneeca.launch.py

In another container terminal

ros2 run regpipe_ros pcd_sampipe

SAM Changelog

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