2020R2 MAEG57550 Robotics Project 2 Bin Picking

---

Overview

This is the MAEG57550 Robotics Project 2 Bin Picking. The camera get the depth image and sent to the Dex-Net 4.0 to get the grasp candidates. Then combine with inverse kinematics, the most approrpiate candidate is selected as the grasp pose. Finally, run the robot by using inverse kinematics to achieve the pick and place task.

QuickStart

If you dont have the ros package of MoveIt or Baxter, please go to FAQ and install the dependencies.

1. Baxter simulation

git clone https://github.com/robot-chenwei/baxter_pykdl.git
git clone https://github.com/robot-chenwei/MAEG5755_Robotics_Project.git

• terminal 1

roslaunch baxter_gazebo baxter_camera.launch

• terminal 2

roslaunch moveit_task_constructor_dexnet dexnet_baxter_simulation.launch load_image:=false

2. Baxter robot

./baxter.sh
roslaunch moveit_task_constructor_dexnet dexnet_baxter.launch load_image:=false

Structure

• moveit support packages
• baxter related packages
• baxter_pykdl: for solve the inverse kinematics of Baxter based on KDL
• MAEG5755_Robotics_Project: dex-net grasp task

Video

FAQ

1. Platfrom

• Ubuntu 20.04 LTS
• ros: noetic
• nvidia driver 460
• cuda toolkit 10.0
• cudnn 7.4

2. Dependencies

• Nvidia driver and cuda https://phoenixnap.com/kb/install-nvidia-drivers-ubuntu

• ROS https://github.com/rojas70/learning_ros_setup_scripts

• Python3.6 https://blog.csdn.net/weixin_42856871/article/details/108352958

• KDL https://github.com/orocos/orocos_kinematics_dynamics

• Dex-Net 4.0 https://github.com/PickNikRobotics/deep_grasp_demo

• MoveIt https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html

• Baxter https://sdk.rethinkrobotics.com/wiki/Workstation_Setup

• Fully setup https://github.com/mfkenson/MAEG5755-2021-Team-PARK