RoboOrchard

RoboOrchard is the real robot system integration suite for Horizon Robotics Robot Lab, providing a comprehensive framework for robotic manipulation, teleoperation, inference, and data management, specifically designed for:

• Research & Development: Accelerate robotics algorithm development with a standardized framework
• Rapid Prototyping: Quick deployment of perception and control algorithms on real robots
• Data Collection: Streamlined data gathering for training and evaluation

Key Features

• Hand-Eye Calibration: Automated calibration between camera and robot coordinate systems
• Teleoperation: Remote control interface for manual robot operation
• Data Recording: Comprehensive data collection and logging capabilities.
• Model Deploy: Efficiently deploy the manipulation model in real robot
• ROS2 Integration: Full ROS2 Humble support for distributed robotic systems

Project Structure

roboorchard/
├── python/                       # Python packages
│   ├── robo_orchard_core/        # Core infrastructure (config, data structures)
│   ├── robo_orchard_schemas/     # Data schemas and validation
│   ├── robo_orchard_lab/         # Lab-specific utilities
│   └── robo_orchard_inference_app/ # Companision app
├── ros2_package/                 # ROS2 packages
│   ├── robo_orchard_data_ros2/   # Data handling
│   ├── robo_orchard_teleop_ros2/ # Teleoperation
│   ├── robo_orchard_piper_ros2/  # Piper arm control
│   ├── robo_orchard_deploy_ros2/ # Deployment tools
│   └── robo_orchard_handeye_calib_ros2/ # Hand-eye calibration
├── projects/HoloBrain/           # HoloBrain integration project

Installation

System Requirements

• Python: 3.10+
• ROS2: Humble
• Operating System: Ubuntu 22.04 recommended
• CANTools: For robotic arm CAN communication

Quick Start (Development)

Step 1: Clone the Repository

git clone https://github.com/HorizonRobotics/RoboOrchard
cd roboorchard

Step 2: Set Up Python Environment

# Create virtual environment
python3 -m venv venv/roboorchard-venv
source venv/roboorchard-venv/bin/activate

# Install development dependencies
make dev-env

Step 3: Install Python Packages

# Install all packages in editable mode
make install-editable

Or install individual packages:

pip install -e python/robo_orchard_core
pip install -e python/robo_orchard_schemas
pip install -e python/robo_orchard_lab
pip install -e python/robo_orchard_inference_app

Step 4: Install ROS2 Packages

# Install ROS2 development dependencies
make ros2-dev-env

# Build all ROS2 packages
make ros2-build

Source the ROS2 workspace:

source install/setup.bash

License

RoboOrchard is open-source and licensed under the Apache License 2.0. If you are interested in contributing, please reach out to us.

Contact

For questions and support, please contact the RoboOrchard Team at Horizon Robotics Robot Lab.