This project contains scripts for VR manipulation of a Flexiv robot. The primary file of interest is src/flexiv_speed_control.cpp, which connects the Flexiv robot to ROS and listens to a topic created in Unity. It acts as a middle layer to transfer messages to the robot. This code is written in C++ because the Flexiv requires high-frequency operations for real-time functionality, which C++ handles more efficiently than Python.
Unfortunately, I no longer have access to the Flexiv robot with which this project was developed. As such, I cannot verify whether it is still functioning correctly.
There was an issue with the CMakeLists.txt file when I initially created this code, but it disappeared at some point, and I still do not know what caused this fix.
- flexiv_ros: You will need the
flexiv_rosproject foun here. - flexiv_rdk: You will also need the
flexiv_rdkfound here.
I suggest checking their GitHub repositories for the latest versions and installation instructions before using this project.
Due to the lack of access to the original hardware, this project may not work as expected. Please test it thoroughly in your environment and report any issues you encounter.