interbotix-arm-object-detection

Purpose

The robot arm can detect the position of the cubes and pick them. After picking the cube, the arm moves above the corresponding rubbish bin.

How to use

1. Download and build the source code
2. Start the MoveIt group with the real robot driver

$ roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250s use_actual:=true dof:=6

or the Gazebo simulation

$ roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250s use_gazebo:=true dof:=6 world_name:=warehouse.world

3. Start the usb camera driver and the object color detection program

$ roslaunch object_color_detector object_detect_hsv.launch

Or only the object color detection program that subscribe to Gazebo camera.

$ roslaunch object_color_detector object_detect_hsv.launch use_gazebo:=true

4. run the python file to start the code

python moveit_proj2.py __ns:=wx250s

5. In Gazebo simulation, you can randomly reset the position of cubes with the following command for convenience.

$ rosrun interbotix_gazebo reset_cube_position.py