robot_handover

Third semester project for robot-to-human handovers, using a UR10 robotic manipulator and a Kinect for Windows V2 camera

Dependencies:

• Numpy (https://pypi.org/project/numpy/)
• OpenCV (https://pypi.org/project/opencv-python/)
• Wheel (https://pypi.org/project/wheel/)
• libfreenect2 (https://github.com/OpenKinect/libfreenect2/)
• scikit-learn (https://github.com/scikit-learn/scikit-learn)
• scikit-image (https://github.com/scikit-image/scikit-image)

Install python wrapper for libfreenect2 (https://rjw57.github.io/freenect2-python/):

• https://www.notaboutmy.life/posts/run-kinect-2-on-ubuntu-20-lts/
  • sudo apt install pcl-tools -y
  • PKG_CONFIG_PATH=$HOME/freenect2/lib/pkgconfig pip install freenect2
• rjw57/freenect2-python#6
  • sudo ln -s $HOME/freenect2/lib/libfreenect2.so.0.2 /usr/lib/libfreenect2.so.0.2

How to use the program

1. Edit the three variables in the shell file called connect_to_ur.sh to fit your setup

   path_to_ws_build: The path to the ros workspace's build folder

   robot_ip: The IP of the UR10

   config_path: The path to the UR10 calibration file (if you have one)

2. Open the shell file called connect_to_ur.sh and follow the instructions.

   This will open the ROS master, UR10 driver, and MoveIt execution planner.

3. Open the move_ur.py script as a node: "rosrun robot_handover move_ur.py"

   This will open the python interface for move group.

4. Open the locate_hand_no_background_kinect.py script that sends hand coordinates to the python interface script: "rosrun robot_handover locate_hand_no_background_kinect.py"

   Make sure that the calibration marker and Kinect camera is placed as described in the report.