- ssh to the torso PC
ssh -X ergocub-torso - go under hsp folder:
cd $ROBOT_CODE/hspwhere $ROBOT_CODE is /usr/local/src/robot - type the following commands:
git clone https://github.com/hsp-iit/ergocub-realsense-pose
cd ergocub-realsense-pose
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/src/robot/robotology-superbuild/build/install ..
make installOn the robot torso:
ergocub-rs-pose $YARP_ROBOT_NAME /usr/local/src/robot/robotology-superbuild/src/ergocub-software/urdf/ergoCub/robots/$YARP_ROBOT_NAME/model.urdfThe executable will stream a x y z axis_x axis_y axis_z angle vector to the port /ergocub-rs-pose/pose:o.