robot_ur3e_perception

git clone https://github.com/Andy-Leo10/robot_ur3e_perception.git

• robot_ur3e_perception
  • Install libraries
  • For searching a coffee space - SIM
    • Launch YoloV5 & TF
    • Launch Digital-Image-Processing & TF
    • Take pictures
    • Launch Digital-Image-Processing & TF & Marker
    • If ran separately
  • For searching a coffee space - REAL
    • Launch YoloV5 & TF
    • Optionally
    • Take pictures
  • Resources

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Setup and download libraries

Install libraries

move to pkg path and use:

python3 -m venv venv
cd /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception; source venv/bin/activate
pip install -r requirements.txt

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SIMULATED ROBOT

For searching a coffee space - SIM

Launch YoloV5 & TF

export PYTHONPATH=$PYTHONPATH:/home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception/venv/lib/python3.10/site-packages/

cd /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception; source venv/bin/activate

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception alt_yolov5_tf.launch.py

Launch Digital-Image-Processing & TF

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception sim_dip_tf.launch.py

Take pictures

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception real_snapshot.launch.py

Launch Digital-Image-Processing & TF & Marker

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception sim_dip_tf_marker.launch.py

If ran separately

Run Digital-Image-Processing

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 run robot_ur3e_perception sim_dip

Run Transform

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 run robot_ur3e_perception sim_transform

Run Marker

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 run robot_ur3e_perception sim_marker

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REAL ROBOT

For searching a coffee space - REAL

Launch YoloV5 & TF

export PYTHONPATH=$PYTHONPATH:/home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception/venv/lib/python3.10/site-packages/

cd /home/user/ros2_ws/src/coffee-dispenser-project/robot_ur3e_perception; source venv/bin/activate

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception real_yolov5_tf.launch.py

Optionally

ros2 param set /D415/D415 pointcloud.enable true

Take pictures

cd ~/ros2_ws/ ;colcon build --packages-select robot_ur3e_perception --symlink-install; source install/setup.bash; ros2 launch robot_ur3e_perception real_snapshot.launch.py

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Resources

Resources

Depth Camera Information:

• https://www.intelrealsense.com/depth-camera-d435i/

Virtual environments:

• https://medium.com/ros2-tips-and-tricks/running-ros2-nodes-in-a-python-virtual-environment-b31c1b863cdb

Parameters for camera:

• https://github.com/Marnonel6/YOLOv7_ROS2/blob/main/object_detection/launch/object_detection.launch.xml

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