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EwhaGlab / dual_ur_robotiq

ROS integration for the UR5e and robotiq gripper
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Compare the vision sensors #1

Closed yaesolKim closed 2 years ago

yaesolKim commented 2 years ago

[Vision sensors in the lab]

[UR wrist cam도 있다] https://robotiq.com/products/wrist-camera

Wrist Camera제품은 480만원으로 UR+Wrist Camera+ Robotiq finger 같이 사용 가능. ROBOTIQ Wrist Camera는 2D카메라인데 ROS로 제어가 어려울 수도 있음.

D435카메라 + 브라켓은 대략 60만원(부가세별도).

[비교 기준] ROS compatibility, 카메라 FoV, Depth sensor 여부

yaesolKim commented 2 years ago

Intel(R) RealSense(TM) ROS Wrapper for D400 series, SR300 Camera and T265 Tracking Module is provided here.

yaesolKim commented 2 years ago

Intel RealSense family of camera is introduced here.

-> RealSense 중에는 D455가 가장 고성능

yaesolKim commented 2 years ago

MS Azure kinect ROS driver is provided here. How to setup: youtube video

yaesolKim commented 2 years ago

Depth sensor comparison is provided here.

-> 성능은 Azure가 훨씬 좋음 -> ROS compatibility는 RealSense가 더 좋을듯 (참고할 내용이 많고 ros wrapper도 제공됨)

: 일단 RealSense 로 테스트해본 후 괜찮으면 쓰고, 안좋으면 Azure 테스트하자.