GelSight_ROS2

introduction

ROS2 humble interface for GelSight MINI tactile sensor.

requirements

ROS2 humble
GelSight SDK install on python(gsrobotics)

usage

clone this repository to your ros2 workspace
build your ros2 workspace
run ros2 run gelsight_ros2 gelsight_showimage to get raw rgb image on topic /gsmini/image
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