Robotic Grasping With JAKA MiniCobo

These are the packages for performing vision-based robotic grasping using Intel Realsense D455 camera, JAKA MiniCobo manipulator and DH-Robotics PGE-50-26 gripper. Several other packages must be downloaded to support the functionality.

Installation

Step 1: Download Intel Realsense SDK and ROS package

• librealsense
• realsense-ros

Step 2: Download JAKA MiniCobo ROS package

• jaka_ros

Step 3: Download DH-Robotics ROS package

• dh_gripper_ros

Step 4: Download ArUco ROS package

• aruco_ros

Step 5: Download AprilTag ROS package

• apriltag_ros

Step 6: Clone this repository to your workspace

cd ~/<Your Worksapce>/src
git clone https://github.com/HenryWJL/jaka_grasping.git
cd ..
catkin_make
source devel/setup.bash

If you find something wrong with AprilTag ROS package when you run catkin_make, try:

catkin_make_isolated
source devel_isolated/setup.bash

Modification

(1) Modify the following arguments in the /launch/gripper_init.launch:

<launch>
	
    <arg name="GripperID"    default="1"/>
    <arg name="GripperModel" default="PGE"/>
    <arg name="Connectport"  default="/dev/ttyUSB0"/>
    <arg name="Baudrate"     default="115200"/>
    <arg name="test_run"     default="false"/>
    ...
</launch>

(2) Modify the following arguments in the /launch/object_detection_aruco.launch:

<launch>

    <arg name="image_topic"     default="/camera/color/image_raw"/>
    <arg name="camera_info"     default="/camera/color/camera_info"/> 
    <arg name="markerId"        default="250"/>
    <arg name="markerSize"      default="0.4"/>
    ...
</launch>

(3) Modify the following arguments in the /launch/object_detection_apriltag.launch:

<launch>

    <arg name="image_topic"       default="/camera/color/image_raw"/>
    <arg name="camera_info"       default="/camera/color/camera_info"/>
    <arg name="publish_tag_image" default="true" />
    <arg name="queue_size"        default="1" />
    <arg name="launch_prefix"     default="" />
    ...
</launch>

(4) Modify the parameters in the /config/tags.yaml and /config/settings.yaml:

standalone_tags:
  [
     {id: 250, size: 0.0215}
  ]

tag_family:        'tagStandard41h12' 
tag_threads:       2          
tag_decimate:      1.0        
tag_blur:          0.0        
tag_refine_edges:  1          
tag_debug:         0          
max_hamming_dist:  2          
publish_tf:        true       
transport_hint:    "raw"

Usage

Step 1: Hand-eye calibration

• handeye_calibration

Step 2: Enable the gripper

roslaunch jaka_grasping gripper_init.launch

Step 3: Object detection and localization

There are two options for object detection: using AprilTag or ArUco.

• AprilTag

roslaunch jaka_grasping object_detection_apriltag.launch
rosrun jaka_grasping object_location.py

• ArUco

roslaunch jaka_grasping object_detection_aruco.launch
rosrun jaka_grasping object_location.py

Step 4: Grasp!

rosrun jaka_grasping jaka_grasp.py