Requirements

1. Ubuntu 16.04

2. ROS Kinetic

3. MoveIt!

4. Realsense ROS Package

5. OpenCV ROS Package

6. ROS Qt Creator

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7. ROS libraries

sudo apt-get install ros-kinetic-tf2-geometry-msgs ros-kinetic-find-object-2d ros-kinetic-moveit* ros-kinetic-qt-build ros-kinetic-map-server ros-kinetic-move-base -y 

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How to run the functions of 'manipulator'

1. Run the moveIt! and RViz

 roslaunch srdf demo.launch 
 

2. Run the realsense cameras(camera1(D415): world camera, camera2(D435)" End-effector)

Note: Connect the camera to the USB 3.0

roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:=732612061000 serial_no_camera2:=819312073026
 

3. Run Qt GUI for controlling the manipulator

 rosrun qtros qtros
 

4. Run image process using OpenCV

 rosrun camera_node camera_node
 

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qtros GUI guide

To be more specific, the functions of qtros node is like below:

Control tab

• ROS Master

  • ROS MasterUrl: ROS MasterUrl
  • ROS IP: ROS IP
  • Connect : To connect for ROS Master with Qt GUI

• TCP/IP

  • ServerIP: IP of EC-Master
  • Port: Port of EC-Master(Default)
  • Connect : To connect for EC Master with Qt GUI

• ForwardJoint_value: Get the joint angles in RViz.

• EndPointJoint_value: Get the 3D position such as x, y, z and angle such as roll, pitch, yaw in RViz.

• EndToCamera: Move the manitulator to the desired position through inverse kinematics in RViz.

Setting tab

• Set_JointValue: Set the joint angles for moving according to absolute joint angles .

• Get_JointValue: Get the joint angles from real manipulator.

• Robot_Server:

  • SRV_ON: Servo motor on
  • SRV_OFF: Servo motor off
  • Position_Set: init position setting
  • Free_Set: Direct teaching

• Robot_Pose:

  • Home: Move to the home.
  • Pose_set: Move to the designated position
  • PixelPoint: Track the object using image processing
  • Gripper On/OFF: Gripper On/OFF

Check tab

It is designed for checking repeatability of manipulator.

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camera node guide

Drag the desired object area on image window with keeping left button of mouse.