GelSight_ROS2

introduction

ROS2 humble interface for GelSight MINI tactile sensor.

requirements

• ROS2 humble
• GelSight SDK install on python(gsrobotics)

usage

1. clone this repository to your ros2 workspace
2. build your ros2 workspace
3. run ros2 run gelsight_ros2 gelsight_showimage to get raw rgb image on topic /gsmini/image
4. run ros2 run gelsight_ros2 gelsight_show3d to get 3d point cloud on topic /gsmini/pcd

known issues

3d point cloud show in rviz2 is strange

gelsight mini crush sometimes