The repository includes ROS packages and nodes for ProTac sensing and perception protac_perception, as well as control of the ProTac-integrated UR robot ur_protac and newly constructed robot arm protac_control. The ProTac design files are available in the protac_design directory.
Note: The repository is under-reviewed by Transaction on Robotics.
For contact / proximity sensing, run the following ROS node. The node publishes all related tactile and proximity information on designated topics.
rosrun protac_perception protac_acquisition.py
The optimization-based motion control with combined obstacle awareness and contact accomoation can be tested from
rosrun ur_protac test_protac_qp_control_proximity.py
The human-robot interaction with ProTac flickering sensing can be tested from
rosrun ur_protac test_protac_hri.py
ProTac-driven reactive control and speed regulation can be run from
rosrun protac_control distance_reactive_control_node.py
rosrun protac_control distance_aware_speed_control_node.py