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HSR motion planning

Description

https://github.com/ori-drs/hsr_driveby_full

Requirements:

System requirements:

Set up workspace and install required dependencies:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone git@github.com:zhlzhl123/hsr.git
git clone https://github.com/ToyotaResearchInstitute/hsr_meshes.git
sudo apt install ros-noetic-exotica-examples
catkin build

Instructions - Basic

Description

Pick up a soda can in a fixed place without stopping.

Run a trajectory

  • Start the gazebo simulation: roslaunch hsr123 basic.launch
  • Wait for gazebo to finish loading and press play to start the simulation
  • In an new terminal window, run hsr123/src/basic_traj_follow.py

Generate a new trajectory using AICO

  • Start the rviz if gazebo isn't running: roslaunch hsr123 my_rviz.launch
  • In an new terminal window, source devel/setup.bash and run hsr123/src/basic_traj_aico.py

Instructions - Detection

Description

Pick up a soda can in a fixed place with apriltag. A modified version of the basic one above, remove the hardcoded part.

Run!

  • Srat the gazebo simulation, roslaunch hsr123 detect.launch
  • Choice 1: Run function detect_traj_follow(4.5, 0.15, 2.5, new_traj=1) in hsr123/src/detect_traj_follow.py to generate and run the new trajectory.
  • Choice 2: Run hsr123/src/detect_traj_aico.py first to generate the trajectory, and then run function detect_traj_follow(4.5, 0.15, new_traj=0) in hsr123/src/detect_traj_follow.pyto run the trajectory

Instructions - Pick Up

Description

Pick up a soda can in a random place with apriltag from a random start place. Using IK, AICO and RRT solver.

Run!

  • Set the starting and ending position of the robot. Set the position of the can since the detection is not working well in gazebo.
  • Start the rviz if gazebo isn't running: roslaunch hsr123 my_rviz.launch, run hsr123/src/pickup_plan.py to generate all the trajectories needed.
  • Run the trajectory in gazebo, firstly start the gazebo with roslaunch hsr123 pickup.launch, then run hsr123/src/pickup_follow.py.

Instructions - YOLO detection

Description

Pick up a soda can in a random place with yolo v5 detection. Robots start from a random place. Using IK, AICO and RRT solver. (Download yolov3.weights into hsr123/src/image/yolo_models before using)

Run!

  • Start the gazebo with roslaunch hsr123 yolo.launch
  • Run hsr123/src/yolo.py. (Detect->Plan->Pick and Drop)

Debug

  • In hsr123/src/yolo.py, set gazebo=0, set can_position_list manually, choose the debug version at the end by commenting and uncommenting.
  • Run roslaunch hsr123 my_rviz.launch, then run hsr123/src/yolo.py.

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