SNACBot

SNACBot is a 5-axis robot arm that autonomously feeds people snacks. It uses computer vision via a gripper-mounted depth-sensing camera (Intel Realsense D435) to detect food and open mouths and calculate poses for each. More details can be found in report.pdf.

SNABot Demo

Repo Structure

• face_detection/ - ROS Service to extract open mouth pose
• snacbot_common/ - Reusable code & moveit interfaces
• snacbot_controller/ - Dynamixel servo controller configs, lauch files; MoveIt action server clients
• snacbot_description/ - URDF and mesh data that describes the arm
• snacbot_machine/ - contains main state machine script and main lauch files
• snacbot_moveit/ - MoveIt configuration package
• snacbot_snacbot_arm_ikfast_plugin/ - Inverse kinematics solution plugin for MoveIt (IKFast with TranslationDirection5D IK Type)
• snacket/ - ROS service for detecting snacks and calculating grasp pose (utilizes YOLOv5)

Build

ROS Version: Noetic
Dependencies

• MoveIt (sudo apt-get ros-noetic-moveit)
• realsense_ros
• dynamixel_workbench and dynamixel_workbench_msgs

Build SNACBot in your catkin workspace

$ cd ~/catkin_ws/src
$ git clone https://github.com/hvak/SNACBot.git
$ cd ~/catkin_ws
$ catkin build

Run

In separate terminals, run:

$ roslaunch snacbot_machine snacbot.launch
$ roslaunch snacbot_controller dynamixel_controller.launch
$ roslaunch snacbot_machine state_machine.launch

Contributors

• Hersh Vakharia
• Audrey Cooke
• Tom Krolikowski