visp for ur

[james2254]

Can I do a demo with visp in UR robot for grasping?

[fspindle]

Yes. With ViSP you can implement a visual servoing (let say may be pose-based) that brings the arm to the grasping position and publish the velocities as a cmd_vel.

[fspindle]

Closed since this is not an issue

[Abduoit]

Hi @james2254 have u solved your issue ?

I doing visual servoing with UR5, but I am stuck over the flow,

-1- I am able now to run roslaunch visp_auto_tracker tracklive_usb.launch I can detect the RQ-code's position and orientation. rostopic echo visp_auto_tracker/object_position

-2- From this UR5 diver I can control the real arm with rviz and gazebo.

But I don't know how to combine between them and do visual servoing ???

[fspindle]

You should implement a ros node that does the visual servoing. This node should subscribe to the pose published by visp_auto_tracker, then compute a position based visual servoing (PBVS) where you have to specify a desired pose to reach. Here a good example for PBVS. The node should then publish the velocity computed by vpServo::computeControlLaw() to the node that contains the UR5 driver.

Here a ROS example that shows how to use the pose published by visp_auto_tracker in order to achieve an image based visual servoing.

[Abduoit]

@fspindle Thanks for clarification

I prepared a ROS node which can subscribe to topic /visp_auto_tracker/object_position

I don't know how to use the PBVS example that you suggested.

Would you please help ?

Here's the ROS node that I use to subscribe to /visp_auto_tracker/object_position

#include <vector>

#include "ros/ros.h"
#include "geometry_msgs/PoseStamped.h"

std::vector<geometry_msgs::PoseStamped::ConstPtr> poses;

void handle_poses(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
  ROS_INFO_STREAM("Position X " << msg->pose.position.x);
  ROS_INFO_STREAM("Position Y: " << msg->pose.position.y);
  ROS_INFO_STREAM("Position Z: " << msg->pose.position.z);
  ROS_INFO_STREAM("Orientation X: " << msg->pose.orientation.x);
  ROS_INFO_STREAM("Orientation Y: " << msg->pose.orientation.y);
  ROS_INFO_STREAM("Orientation Z: " << msg->pose.orientation.z);
  ROS_INFO_STREAM("Orientation W: " << msg->pose.orientation.w);
  // Use the msg object here to access the pose elements,
  // like msg->pose.pose.position.x
  poses.push_back(msg);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listenerccp");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("/visp_auto_tracker/object_position",
    1000, handle_poses);

  ros::spin();

  return 0;
}

[shrutichakraborty]

@fspindle Thanks for clarification

I prepared a ROS node which can subscribe to topic /visp_auto_tracker/object_position

I don't know how to use the PBVS example that you suggested.

Would you please help ?

Here's the ROS node that I use to subscribe to /visp_auto_tracker/object_position

#include <vector>

#include "ros/ros.h"
#include "geometry_msgs/PoseStamped.h"

std::vector<geometry_msgs::PoseStamped::ConstPtr> poses;

void handle_poses(const geometry_msgs::PoseStamped::ConstPtr& msg)
{
  ROS_INFO_STREAM("Position X " << msg->pose.position.x);
  ROS_INFO_STREAM("Position Y: " << msg->pose.position.y);
  ROS_INFO_STREAM("Position Z: " << msg->pose.position.z);
  ROS_INFO_STREAM("Orientation X: " << msg->pose.orientation.x);
  ROS_INFO_STREAM("Orientation Y: " << msg->pose.orientation.y);
  ROS_INFO_STREAM("Orientation Z: " << msg->pose.orientation.z);
  ROS_INFO_STREAM("Orientation W: " << msg->pose.orientation.w);
  // Use the msg object here to access the pose elements,
  // like msg->pose.pose.position.x
  poses.push_back(msg);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listenerccp");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("/visp_auto_tracker/object_position",
    1000, handle_poses);

  ros::spin();

  return 0;
}

hello @Abduoit did you solve your issue? I'm working on the same setup. Where did you get the visp_auto_tracker node?