Robotic Portrait

Dependencies

Robot Raconteur Robot Drivers

• ABB IRC5
• [UR cb2] (https://github.com/robotraconteur-contrib/URRobotRaconteurDriver)

Python Libraries

python -m pip install -r requirements.txt

Instruction

• Start Robot Driver: cd ~/Desktop/abb_driver_csharp-2024-01-02/ && source run_driver.sh
• Start ATI Driver: cd ~/Desktop/ati_robotraconteur_driver/ && source run_sensor.sh
• Start Camera Driver: cd ~/Desktop/robotic_portrait/face_tracking && python face_tracking_service.py

Carlibration

• Start Aruco Detection: cd ~/Desktop/robotic_portrait/face_tracking/ && python aruco_service.py

• Start Aruco Calibration: cd ~/Desktop/robotic_portrai/ &&$ source calibration.sh Jog the robot such that the camera can see the aruco tag, and click use aruco. Then quit the Aruco Detection Service and Calibration script.

• Force-based Calibration: cd ~/Desktop/robotic_portrait/ && python recalibration_force.py

Draw the Portrait

Keep the ATI and Camera driver opened, run python integrated_client_fb.py.