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Robotic Light Painting

Path planning program which accepts an input image to build a path plan to move an external robot througha series of poses. Designed for use with a 6-axis robotic arm, specifically the Motoman MH5L.

Hardware light painting uses a Arduino listening to the /paintbrush_color topic. More info in the repo wiki. No support exists for simulating the light painted result. Only motion of the robot may be simulated.

Workspace Setup

Create a new workspace, clone this repo into the workspace.

mkdir -p ~/ws_lightpainting/src
cd ~/ws_lightpainting

source /opt/ros/<distro>/setup.bash
catkin init

git clone https://github.com/OSU-AIMS/light_painting.git ~/ws_lightpainting/src

Dependencies

All ROS package dependencies are detailed in the package.xml file in the repository. This project uses the Descartes cartesian motion planner to generate trajectories. This planner is available as a ROS package which can be built in your local catkin workspace.

A .rosinstall file is included for convience in setting up your workspace. Perform the below steps to install using either vcstool or wstool.

cd <yourWorkspace>/src
vcs install < light_painting/support.rosinstall

Build & Source Workspace

cd ~/ws_lightpainting
catkin build
source devel/setup.bash

Basic Usage

Initialize Support System

roslaunch light_painting t1_initialize.launch

Set the desired image by changing the hardcoded image input in the lightPainter.py script.

canvas = imageLoader('grayscale/cloud_16x16.tif', scale=image_scale, color=False)

Run the Light Painter Program. This will create a node named monet.

roslaunch light_painting t1_execute.launch