FUNDAMENTALS OF ROBOTICS PROJECT

University of Trento A.Y. 2023/2024

Developed by:
Alessandro De Vidi
Daniele Marisa
Giulia Modenese
Sofia Zandonà

PROJECT DESCRIPTION

The objective of the project is to use the manipulator able to do autonomus pick-and-place operations. Through the zed-camera, able to detect the classes and position of every block, the robot have to pick the object and place in the corrisponding potion.

FOLDER STRUCTURE

INSTALLATION

The project has been developed and tested on Ubuntu 20.04 with ROS Noetic, also we used the locosim repository for the ur5 simulation. The installation of the project is the following:

1. Clone the locosim repository and follow the respective instructions to install it
2. Clone this repository in the catkin_ws/src folder of the catkin workspace
3. Install the vision dependencies with the following command:

• Install YOLOv5 dependencies

cd ~
git clone https://github.com/ultralytics/yolov5.git
cd yolov5
pip3 install -r requirements.txt

• Intall the other dependencies

pip install torchvision==0.13.0

4. Compile the project with the following command:

cd ~/catkin_ws
catkin_make
source install/setup.bash

HOW TO RUN THE PROJECT

SETUP

Inside ~/ros_ws/src/locosim/robot_control/base_controllers/params.py go to the line 46 and set:

'gripper_sim': True,

Then we copy the models inside the worlds directory :

cd ~/catkin_ws/src/ur5
cp -r Models ~/ros_ws/src/locosim/ros_impedance_controller/worlds

Now add the world.world file

cp world.world ~/ros_ws/src/locosim/ros_impedance_controller/worlds

Last thing is to modify the ur5_generic.py file in the locosim project adding the following line at line 71

self.world_name = 'world.world'

Now we are able to run the project.

RUN

For running the project you need to run the following commands:

1. Run in one window the ur5 script with the following command:

rosrun ur5 ur5_generic.py

2. Run in another window the ROS nodes with the following command:

roslaunch ur5 ur5.launch