Pick and place Demo

ROS, GAZEBO & OPENCV

Requirements

• Install opencv for python

  pip install opencv-python pandas

• install scikit learn for regression model

  pip install -U scikit-learn

• install catkin tools for building

  sudo apt install python3-catkin-tools ros-$ROS_DISTRO-moveit ros-$ROS_DISTRO-joint-trajectory-controller

• install extra for patches to work

  sudo apt install \
  ros-$ROS_DISTRO-gazebo-ros \
  ros-$ROS_DISTRO-eigen-conversions \
  ros-$ROS_DISTRO-object-recognition-msgs \
  ros-$ROS_DISTRO-roslint

  Currently this has been tested on ros-noetic

How to run

1. Clone this repo with submodules

   git clone https://github.com/ron007d/ros_pick_and_place_simulation.git --recurse-submodules

2. Build the package

   catkin build

3. add the sources of this folder

   source devel/setup.bash

4. run the simulation with live video feed

   roslaunch simulation_moveit_config demo_gazebo.launch

5. run the pick and place node

   rosrun pick_and_place pick_and_place.py

👍 More information will be added soon

• Python-based framework using OpenCV and ROS (control)
• Identifies objects with OpenCV (potential enhancements)
• Employs diverse grasping strategies
• ROS & MoveIt for collision-free motion planning
• Modular design for extensibility
• Configurable parameters for easy experimentation
• Leverages Gazebo for high-fidelity simulation
• Logging & analysis for performance optimization
• Containerization potential for sharing & deployment