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.
- Download and build the source code
- 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
- 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
- run the python file to start the code
python moveit_proj2.py __ns:=wx250s
- In Gazebo simulation, you can randomly reset the position of cubes with the following command for convenience.
$ rosrun interbotix_gazebo reset_cube_position.py