This package provides python interface to WUT Velma Robot, python scripts and ROS launch files:

ar_track_kinect_50.launch - runs ROS node for AR visual marker recognition and localization; arguments:
- marker_size
- max_new_marker_error
- max_track_error
- cam_image_topic
- cam_info_topic
- output_frame
kinect_hw.launch - runs HW kinect ROS nodes
octomap_offline_server.launch - runs offline octomap server with predefined (saved) map file; arguments:
- octomap_file - file path for preloaded octomap file. The map sile can be saved using rosrun octomap_server octomap_saver
octomap_server.launch - runs the following nodes:
- point cloud filter that filters out robot links
- online octomap server that uses filtered point cloud to build occupancy map of the environment
- octomap filter that adds to the occupancy map unexplored space information
arguments:
- use_hw_kinect - true if real HW kinect is used, false for simulated kinect
- octomap_file - file path for preloaded octomap file
show_collisions.launch - runs script that vizualises collision objects and collisions between them
show_kinect_frustum.launch - runs script that visualizes frustum of kinect mounted on head of Velma
velma_system.launch - runs all core agent and task agent subsystems
- GAZEBO_MODEL_PATH - please refer to Gazebo documentation
- GAZEBO_RESOURCE_PATH - please refer to Gazebo documentation
- use_kinect - true or false: enable or disable kinect simulation
- world_name - world file name with respect to GAZEBO_RESOURCE_PATH
- profile - physics profile as defined in world file
int_markers_cimp.py - provides interactive 6D pose marker that ca be used to move end-effectors.
show_joints.launch - show joints and their limits as rviz visual markers