• snake_arduino: Arduino code for AD7747 and DG4052E.
• snake_calibration_tool: This directory contains 2 functions. One is to obtain the encoder readings using arduino, and the other is to obtain AD7747 and encoder readings to form CSV. CSV will be used to calibrate the linear relation between the capacitance reading and degree of bending.
• snake_capa_msg: Customized ROS2 message type for capacitive shape sensing.
• snake_capa_publisher: Two ROS2 nodes: capa_publisher & capa_mapper (See below)
• snake_description: Snake (CDM) URDF with a GUI.
• snake_shape_detection: ROS2 node (detection_node) for evaluating the result of reconstruction.

Plug in Arduino, and run:

ros2 run snake_capa_publisher capa_publisher

To Calibrate and send the data, run:

ros2 launch snake_capa_publisher snake_param.launch.py 

To run the evaluation tools:

ros2 run snake_shape_detection detection_node 

Updated launch file, single terminal run for every nodes involves (might not work):

ros2 launch snake_capa_publisher snake_param.launch.py 

To view the snake tool in Rviz2, run:

ros2 launch snake_description view_snake_tool.launch.py gui:=false