Assistive Grasping UI

The Assistive Grasping UI that is needed for running the medical campus Mico experiments. Users can interact with the interface through a mouse, Alexa, a binary switch, or an sEMG device. The interface provides features for controlling a robotic arm, allowing those with spinal chord injuries to perform grasping tasks.

Check out the demo for a quick overview!

Install

1. Install node and npm, then run npm install
2. Install bower with npm install -g bower, then run bower install
3. Install ROS (http://wiki.ros.org/ROS/Installation)
4. Install Rosbridge (http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge)

Run

1. Start ROS by opening a terminal window and running roscore
2. Start Rosbridge by opening another terminal window and running roslaunch rosbridge_server rosbridge_websocket.launch
3. In yet another terminal window, navigate to the project root and run node scripts/assistiveGraspingUI.js

Docs

The entire UI can be populated and controlled over ROS, as described below:

Populating Commands Menu, Environments Menu, and Inputs Menu

To initially load the data for these menus, ensure the following services are running:

/current_commands
/current_environments
/current_inputs

After the menus are initially loaded, you can broadcast any changes to the menus respectively by sending messages over the following topics:

/valid_commands
/valid_environments
/valid_inputs

Toggling Inputs and Environments

When a user changes the status of an input or environment by clicking a toggle or radio button, a message will be sent to the respective services:

/set_environment_service
/set_input_service

If the service responds with result=true, the input or environment will change to the desired status, but if false, the status will not change.

Controlling Commands Menu

To simulate clicking a command in the Commands Menu, send a message over the topic /valid_commands and set the parent variable in the message to the ID of the command to be clicked.

To simulate highlighting a command, send a message over the topic /currently_selected_command and set the string in the message to the ID of the command to be highlighted.

UI State

If at any time you would like to trigger a loading icon and disable user interaction, publish to the topic /crui_bot_status a string that is either loading to trigger the loading state or ready to end it.