Objects Arrangement Robot

Objects Arrangement Robot Demo Video - [YouTube]

Environment

• Ubuntu 18.04
• ROS Melodic
• python 2.7

---

Installing

1. Install ROS

   Follow these ROS Melodic installation instructions. You can select any of the default configurations in step 1.4; even the ROS-Base (Bare Bones) package (ros-melodic-ros-base) is enough.

2. Download the code

   $ cd ~/catkin_ws/src
   $ git clone this repository 
   

3. Install python dependencies

   $ cd ~/catkin_ws/src/Parts-Arrangement-Robot
   $ pip install -r requirements.txt
   

4. Install ROS dependencies

   $ cd ~/catkin_ws
   $ rosdep install --from-paths src -i --rosdistro melodic
   $ sudo apt-get install ros-melodic-rosbash ros-melodic-ros-comm
   

5. Build

   $ cd ~/catkin_ws
   $ catkin_make
   

Quick Start

• $ roslaunch gripper_ur5 gazebo_env_setting.launch
• $ roslaunch gripper_ur5_moveit_config moveit_planning_execution.launch
• $ roslaunch yolov3_pytorch_ros detector.launch
• $ rosrun gripper_ur5 robot_sorting_yolo.py

The main filse to check are :

• /yolov3_pytorch_ros/src : These yolo detector
• /gripper_ur5/src/robot_sorting_yolo.py : This is path planing script which take messages from yolo detector.

Node info - Launch

• To simulate the robot environment launch the following:

   $ roslaunch gripper_ur5 gazebo_env_setting.launch
  

• For setting up the MoveIt! nodes to allow motion planning run:

  $ roslaunch gripper_ur5_moveit_config moveit_planning_execution.launch`
  

• Start screw grasp detection node:

   $ roslaunch yolov3_pytorch_ros detector.launch
  

• Start screw sorting robot node:

  $ rosrun gripper_ur5 robot_sorting_yolo.py
  

Reference:

https://github.com/Kminseo/Parts-Arrangement-Robot.git