Egomo is an open-source research vision sensor developed at Xamla for adaptive robotics research on a Universal Robot UR5 equipped with Robotiq end-of-arm technology. It integrates consumer cameras like the Logitech C920 and Structure IO and allows you to mount them on a robotic arm. It acts as a low-cost, 3D-printable reference smart-sensor device for our ROSVITA robot programming IDE which is currently under development (to be released in 2017). For more information and product pictures visit the egomo website.
Video: Watch our UR5 robot stacking duplos using the Egomo sensor (source code of the demo can be found here).
- 2D+3D: two side- and front view Logitech C920 cameras in combinaton with a structure IO depth sensor, ideal for RGB-D scans and visual servoing experiments
- NO CABLES: wireless connection of all sensors and and the gripper (no cabled device offers more available joint-configuration space)!
- ROS: the functionalty of all sensors + actuators is exposed as ROS nodes
- EASY: A Lua client library is included which allows to capture images and move the robot to capturing poses + demos are provided
- The IO-board allows to directly connect a Robotiq 2-Finger-Gripper and a Robotiq FT-300 force torque sensor to Egomo. It also has IO ports for laser, high-power white/IR LEDs, simple grippers or tactile sensors (e.g. force-sensitive resistors).
- Egomo seamlessly integrates with the Torch machine-learning framework (e.g. for deep learning based image segmentation, object detection or advanced RL-experiments).
This package is based on LUA with Torch and the wrappers torch-ros, torch-pcl and torch-opencv.
This packages comprises (in alphabetical order):
- egomo_3d_printed_parts: STL files for printing the mounting parts and case of the Egomo sensor.
- egomo_demos: Demos showing the sensor in action (like pick and place objects).
- egomo_depthcam: Contains a ros-node for the Strucure-IO depth sensor.
- egomo_ioboard: Contains the specs and pinout of the Xamla IO board.
- egomo_msgs: ROS Messages, Services, Actions in order to talk to Gripper, Force-Torque Sensor, RGB-Camera, Depth-Camera, Laser, LED
- egomo_node: A ros-node which is responsible for the communication to the IO-Board (e.g. Gripper, Force-Torque, LEDs, Laser).
- egomo_pi_image: Describes the steps required to download and setup our fast booting Raspberry PI linux image.
- egomo_tools: A client library offering an easy to use interfaces to gripper, structure IO, webcam and the robot itself.
- egomo_ur5: Contains URDF Robot description of the UR5 equipped with Egomo sensor head as well as launch files for e.g. gazebo.
- egomo_webcam: Contains ros-node for the Logitech C920 webcam.
- xamla_egomo Metapackage
We offer an implemented calibration routine on request as well as CAD-Files when you would like to adapt the sensor head for another robot. In 2017 we will offer ROSVITA which brings a lot of features such as a convenient calibration routine (including full robot calibration).
You like the idea of open-source hardware but the process of buying parts, 3D printing, soldering, building etc. is too cumbersome and time-intensive for you and you would like to get a tested/working sensor head quickly? As a convenient solution we offer a pre-assembled version of the Egomo sensor head with all parts installed and tested (good quality 3D printed parts made from ABS Ultrat, Logitech C920 Web-Cam (2x), Structure IO sensor, white LEDs (3x), IR LED, Raspberry Pi 3, Xamla IO-Board, shortened USB cables, a customized RPi operating system on a 16 GB class 10 microSD card and a 20mW 830nm IR line laser (depending on your country's import restrictions)) for EUR 1499 + shipping. If you are interested in this offer please contact us via E-mail.
If you have any trouble please let us know by creating an issue. Do not hesitate to contact us via E-mail for questions, feedback and suggestions. We look forward to hear from you!
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