Tekkneeca

Assistive Robot for Total Knee Arthroplasty

Prerequisite

The host machine should be a Ubuntu distribution supported by librealsense.

Installation

Clone the package

mkdir ~/<ros2_ws>
cd ~/<ros2_ws>/src
git clone [email protected]:team-paradocs/tekkneeca.git

Grant host machine run docker without sudo

sudo groupadd docker
sudo gpasswd -a $USER docker
newgrp docker

Set X11 forwarding

xhost +local:docker

SAM checkpoints are not included, so download them manually.

./docker/get_ckpts.sh

Note - The script only downloads the small and large models. If you want additional models, modify segment-anything-2/checkpoints/download_ckpts.sh

Usage

Note: Run all scripts from the root directory of the repository.

Build the Docker image

./docker/tekkneeka.sh build

Run the Docker container

./docker/tekkneeka.sh run

If the entrypoint is enabled, it will build the ROS workspace and source the new setup file on container start.

Variants

• ./docker/tekkneeka.sh run sim - Run sim version (no devices)
• ./docker/tekkneeka.sh run camera - Run camera version (only video devices)
• ./docker/tekkneeka.sh run - Run default version (all devices)

Attach a terminal to the Docker container

./docker/shell.sh

Troubleshooting

If you encounter "Authorization required, but no authorization protocol specified" failure, run X11 forwarding again.

xhost +local:docker

If you cannot connect to Arduino

chmod 777 /dev/ttyACM0

Launch the system

Inside docker container

ros2 launch paradocs_control tek_full_pilz_hybrid.launch.py

In another container terminal

ros2 run parasight host
ros2 run parasight tracker