way to reproduce push-est-public
===

push-est-public
===

#### Author: **Peter Yu**

#### Project details: http://mcube.mit.edu/push-est/index.html

#### Documentation
https://goo.gl/74iecx

#### a.where to put rosbag
under path
*/home/$USER/push-est-public/inputdata/multi_pushes_twofinger_gripper/*
put 3 rosBag(~13GB each)
https://goo.gl/8tFPby


#### b. ~/.bashrc setting, customize "$set_push-est-public" bash

https://goo.gl/RA1ixJ

#### c. push-est-public.zip (102.3mb)
put in home directory, path ( */home/$USER/* )
https://goo.gl/UrEKFA

Build
===

cd 

unzip  push-est-public.zip 

cd push-est-public

source ~/push-est-public/software/config/environment.sh

or "set_push-est-public" command if your bash set proper in step b.

cd catkin_ws

catkin_make

HOW TO FLY
===
open a new terminal and
`source ~/push-est-public/software/config/environment.sh`

pman


You will see the process management window design by peter.
follow steps Here.
https://goo.gl/74iecx

#### Step1 roscore
#### Step2 rviz
#### step3
visualize wood plate block ,arena

show surface

show cone

You'll see like this.

#### step4 play rosbag( rect1_surface, block)

#### step5 iSAM ROS


Happy Pushing! :smile: thank you Peter!

###### tags: `isam` `lcm` `ros` `push-est-public` `icra` `2018`