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Welcome to the ROVI2_Object_Avoidance wiki!
This project was developed during the course of Robotics and Computer Vision 2 (spring 2018), at University of Southern Denmark. The setup is a WorkCell composed by a UR5 robot arm mounted on a table with a BumbleBee 2 stereo camera mounted on a corner. The project consisted on an application for dynamic path planning capable of real time replanning when an obstacle is placed interrupting its route, from an initial configuration q_start to a final one q_end (like in a pick & place). As obstacle object we used an small red ball.
- Sergi
- Carlos
- Richàrd
- Mathesh
April-May 2018
SDU Robotics - University of Southern Denmark.
This directory contains all the ROS programs organized by packages:
-
caros: collection of nodes to interface with the UR5 (provided in the course). -
planner: code that implements the anytime planning algorithm for online path planning. -
red_ball_detection: collection of all the vision nodes, that include detection, calibration and triangulation and Kalman Filter for movement prediction. -
robot_state_monitoring: Node just to monitor the state of the robot in real time. more for debugging purposes. -
ur_caros_example: slightly modified from the one given in class at the ROS lecture. Used to set the robot in the starting configuration.
This directory contains test programs used to try different RobWork functions.
This directory contains the simulated RobWorkStudio WorkCells corresponding to the WorkStation in the Lab.
- ROS libraries.
- OpenCV 3.0.0 for Vision.
- RobWork.
- CAROS-SDU.
- Point Grey Camera Driver for BumbleBee stereo camera.