rosserial_wiseglove

This repo is used for transporting finger joint angles measured by datagloves (Wiseglove) from Windows to Ubuntu, so as to be sync-ed with mocap data captured by Optitrack Motive software.

For time synchronization of dataglove and motion capture system, refer to the package arm_hand_capture in repo sign_language_robot.

Requirements

Software:

1. Install ROS on Windows. Check out here. Note that installing ROS on Windows requires the installation of VS2019.
2. Optitrack Motive software for rigid body pose tracking.

Hardware:

1. Optitrack motion capture system.
2. A pair of Wiseglove's datagloves (Used to be S14. Now we use S15, which consists of 15 sensors for one hand, including flexion/extension, abduction/adduction, and others).

Usage (together with another repo)

1. Generate message header files in ros_lib folder on Ubuntu machine to obtain GloveState msg description, as explained here, and copy them to the root of this project.

rosrun rosserial_client make_libraries ros_lib/

2. Compile the project.
   catkin_make

3. ROS Launch arm_hand_capture/start_all_with_image.launch on Ubuntu to bring up VRPN server first, then run the executable of this project.

4. Perform calibration gestures and save calibration files (for later fine-tuning calibration...) before recording data!!!