Skip to content

MinMengbin/Robot_Laser-Scanner_Object-Detecting

Repository files navigation

Robot_Laser-Scanner_Object-Detecting

Generally speaking, this project aims at the following functions as initial plan

  • LaserScanner sans the object such as a printed asparagus and send the positions (relative to LaserScanner) to ROS messages pool
  • Object detecting algorithms subscribe the data from ROS messages pool, figure out the objects, then publish the positions to the messages pool
  • Robot calibration algorithms subscribe the object positions from the messages pool, calculate the positions (Relative to Robot) and publish them into the messages pool
  • MoveIt module subscribes the calibrated possitions, sends commands to the robot controller which drives the end-effectors to the top of the obeject

Author: Mengbin (Mike) Min

Email: [email protected]; [email protected]

http://prllab.wixsite.com/prl-lab-en

Copyrights Reserved

Your comments and suggestions are highly appreciated! Thanks for your time.

Tests: https://youtu.be/7wkOMaIlb2Y?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM https://youtu.be/4BsFXOpYxok?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM https://youtu.be/IIv79k23aNI?list=PLTK_5YZhA5tG_WGu19Jo2jqEyzdOrrMiM

Hardware Setup (Make sure that they are all connected correctly) https://youtu.be/DwD2qFIzZu8

Usage:

Operating the following steps on Linux:

For Simulation:

  • rosrun test2 laserscantester

  • roslaunch abbaspa abbga.launch has_velocity_limits:=false (Note for me: /home/abbaspasimu.txt run . abbaspasimu)  rviz -1 exit code -11 progress has died  (my guess I update my rviz to newest version(mine is 1.12.15), so rviz could not run properly as before)  solution:  solved by  rosrun rviz rviz  add -> rviz-> robot model  rosrun abb2ros motion_planning_aspa (which is the next step, you can run first though)  displays -> Global Options -> Fixed Frame ->base (for my case)  displays -> RobotModel ( tick this or untick and tick again just for updating)

  • rosrun abb2ros motion_planning_aspa (Note for me: /home/commandexecute.txt run . commandexecute)

Error: error while loading shared libraries: libmoveit_move_group_interface.so.0.9.9: cannot open shared object file: No such file or directory    refer to:    moveit/moveit_tutorials#67 solution:    solved by commands:      sudo apt-get update    sudo apt-get upgrade        

You can move the object, and you can see the results as shown by the this video https://youtu.be/ObHPCBsrXIE (A 3D_Printed Asparagus)

For Real Robot (2 ways):

One way of using MoveIt. (_______)

Now, the robot arm starts moving to the target object in the rviz virtural environment. If you move the object, the arm will move to a new position relatively based on the laser scanner feedback.

Another way of using internet communication without using MoveIt module

  • rosrun test2 laser_aspa_pos (Open a new terminal) (Note for me: /home/laserposition.txt run . laserposition) Now you can see the pulished positions like

[ INFO] [1506576087.330292101]: the number of points is 375

[ INFO] [1506576087.330360426]: First point: [-2.200428 -0.756997]

[ INFO] [1506576087.430859164]: the number of points is 378

[ INFO] [1506576087.430929933]: First point: [-2.169223 -0.746262]

[ INFO] [1506576087.531532844]: the number of points is 379

[ INFO] [1506576087.531611148]: First point: [-2.180571 -0.750166]

[ INFO] [1506576087.631865229]: the number of points is 381

[ INFO] [1506576087.631932325]: First point: [-2.182462 -0.750816]

  • Change ABB IRB120 to Auto Mode
  • Run the Program called Server from T_ROB1
  • rosrun abb2ros abb_ah

First the internet communication between ROS and IRC5 controller is connected. https://www.youtube.com/watch?v=KQ2W-rRu9kg

Then the robot arm starts moving to the target object. If you move the object (it is a 3D printed asparagus for this case), the arm will move to a new position relatively based on the laser scanner feedback. Also, you can start robotstudio on Windows and monitor the robot movement online.
https://www.youtube.com/watch?v=7wkOMaIlb2Y

Your comments and suggestions are highly appreciated! Thanks for your time.

Mengbin (Mike) Min 30/09/2017

Releases

No releases published

Packages

No packages published