This repository demonstrates UR5 pick-and-place in ROS and Gazebo. The UR5 uses a Xbox Kinect cam to detect eleven types of Lego Bricks, and publish its position and angolation.
The goals of this project are:
UR5-Pick-and-Place-Simulation/catkin_ws/
├── levelManager
├── vision
├── motion_planning
├── gazebo_ros_link_attacher
├── robot
levelManager:
the task of this package is to launch the world and spawn the different bricksvision:
the task of this package is to recognize the object type and orientation of the bricksmotion_planning:
the task is to move the robot and pick and place the legogazebo_ros_link_attacher:
A gazebo plugin definable from URDF to inform a client of a collision with an objectrobot:
the task is to define the robot model with appropriate PID settingsFor running each sample code:
Ros Noetic:
http://wiki.ros.org/noetic/InstallationGazebo:
https://classic.gazebosim.org/tutorials?tut=ros_installing&cat=connect_rosYolov5
https://github.com/ultralytics/yolov5Catkin
https://catkin-tools.readthedocs.io/en/latest/After installing the libraries needed to run the project. Clone this repo:
git clone https://github.com/pietrolechthaler/UR5-Pick-and-Place-Simulation/
Setup the project:
cd UR5-Pick-and-Place-Simulation/catkin_ws
source /opt/ros/noetic/setup.bash
catkin build
source devel/setup.bash
echo "source $PWD/devel/setup.bash" >> $HOME/.bashrc
Clone and install YoloV5:
cd ~
git clone https://github.com/ultralytics/yolov5
cd yolov5
pip3 install -r requirements.txt
Launch the world
roslaunch levelManager lego_world.launch
Choose the level (from 1 to 4):
rosrun levelManager levelManager.py -l [level]
Start the kinematics process
rosrun motion_planning motion_planning.py
Start the localization process
rosrun vision vision.py -show
-show
: show the results of the recognition and localization process with an imageName | Github |
---|---|
Davice Cerpelloni | https://github.com/davidecerpelloni |
Leonardo Collizzolli | https://github.com/leocolliz |
Pietro Lechthaler | https://github.com/pietrolechthaler |
Stefano Rizzi | https://github.com/StefanoRizzi |