Skip to content
visual servo simulator
Branch: master
Clone or download
Pull request Compare This branch is 21 commits ahead of babaksit:master.
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
aras_teleop
aras_visual_servo_camera
aras_visual_servo_controller
aras_visual_servo_gazebo
visual_servo_image
.gitignore
LICENSE
README.md

README.md

INTRODUCTION

The aim of visual servoing is tracking an object by the feedback information of the vision sensor. There are different techniques for controlling the system, in this work, Image based visual servoing has been chosen. The goal of propsed system is tracking the featureless object by the kernel and moment measurement. The configuration of the system is eye-in-hand.

OVERVIEW

The main packages are:

  • aras_visual_servo_camera

  • aras_visual_servo_controller

  • aras_visual_servo_gazebo

  • aras_teleop

INSTALL

Clone this project on src folder in your ROS-Workspace (~/catkin_ws/src/) then do make in workspace:

:~/catkin_ws/src$ git clone https://github.com/agn-7/aras_visual_servo.git
:~/catkin_ws$ catkin_make

Install Dependencies:

sudo apt-get install ros-<ros-distro>-joint-state-controller
sudo apt-get install ros-<ros-distro>-effort-controllers
sudo apt-get install ros-<ros-distro>-position-controllers
sudo apt-get install ros-<ros-distro>-gazebo-ros-control

RUN:

roslaunch aras_visual_servo_gazebo aras_visual_servo.launch
roslaunch aras_visual_servo_gazebo aras_visual_servo_nodes.launch

For moving the arm with arrow keys run the following line:

rosrun aras_teleop mover.py

AUTHORS

Babak Sistani Zadeh Aghdam
Javad Ramezanzadeh
Parisa Masnadi
Ebrahim Abedloo
Hamid D Taghirad (supervisor)
Benyamin Jafari (Forked this repo)

You can’t perform that action at this time.