Requirements

• sudo apt-get install qt5-default
• pip3 install -r requirements.txt

build

catkin build -j4 -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/libfranka/build

Start simulation

• source devel/setup.bash
• roslaunch panda_gazebo put_robot_in_world.launch

Start FI Module and person sim

• roslaunch robot_fi_tool fault_module.launch
• to inject fault using GUI: rosrun robot_fi_module fib_gui_v2.py

or

start random FI Process

• random planning and execution: roslaunch robot_fi_tool rand_fault_injector.launch
• random real-time: roslaunch robot_fi_tool real_time_rand_fault_injection.launch