Paper setup for edge detection

This page contains information on robot and scene configuration to run scripts from the tic-tac-toe repository.

Terminal Commands:

Login to MARVIN computer in the AIMS lab. After sourcing your ROS path and building workspace you can execute the following commands:

roslaunch robot_mh5l_pgn64_table_moveit_config moveit_planning_execution.launch sim:=false robot_ip:= ROBOT_IP controller:=fs100
rosrun tic-tac-toe robot_toPaper.py
rosrun tic-tac-toe rectangle_detection.py
rosrun tic-tac-toe pick-and-place.py

Lab workspace setup:

This repository uses the Motoman MH5L robot which can be found in the AIMS lab. There is a yellow piece of tape on the robot table that the paper must be aligned with as shown below. The code requires a standard 8.5''x 11'' paper for accurate object location output.

Camera setup:

This repository uses the Intel Realsense Depth Camera D435i. There is a simple camera mount that attaches the camera to the MH5L robot. Any camera mount will work as long as the camera is in the same orientation when executing rectangle_detection.py (camera height is not fixed).