- The added line is THIS COLOR.
- The deleted line is THIS COLOR.
[[Tutorial using ROS for ver.3]]
* Grasping with TurtleBot3 automatically [#e93a5390]
This example is a simple example that automatically grasps an object.
TurtleBot3 has OpenManipulator.
Object recognition by darknet_ros (YOLO) and Point Cloud data are used. ~
So CUDA must be installed in the Ubuntu in order to recognize objects using YOLO. ~
Although it is possible to check this example scene using CPU without installing CUDA, the object recognition speed is very slow.
The outline of the operation is as follows.
+ Move the TurtleBot3 to the front of the target object by keyboard operation.
+ Move the TurtleBot3 so that the target object comes to the center of the color image.
+ Enter a number to specify the object to be grasped.
When the above operation is performed, TurtleBot3 tries to grasp the object as follows:
+ The darknet_ros (YOLO) performs object recognition using a color image.
+ Estimate the 3D position of the target object using color images and Point Cloud information.
+ Grasp the calculated 3D position.
Please refer to [[here>http://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#manipulation]] for the specifications of Open Manipulator. ~
Please refer to [[here>http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_realsense/]] for camera specifications.~
Because it is convenient to shorten the minimum distance of the depth sensor, RealSense SR300 is used instead of RealSense R200.
Please refer to [[here>https://www.stereolabs.com/zed-mini/]] for camera specifications.
** Build Ubuntu environment [#c709f1fe]
In this example, darknet_ros (YOLO) needs to be installed in Ubuntu environment. ~
It is recommended to check the operation of [[normal darknet>https://github.com/pjreddie/darknet]] without using ros.
The procedure is as follows:
+ If you want to use CUDA, install the NVIDIA driver. (It is possible to run using the CPU without installing CUDA.)
+ If you want to use CUDA, download and install it from [[here>https://developer.nvidia.com/cuda-downloads]]. ~
(For details, please adjust according to your PC and NVIDIA Driver environment.)
+ Git clone darknet_ros. ~
Download the commit that have been verified to work.
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/leggedrobotics/darknet_ros.git
$ cd darknet_ros
$ git checkout 1027a280
+ Install darknet_ros.
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
~* Depending on the combination of GPU and CUDA, you may get an error like "Unsupported gpu architecture 'compute_30'" during catkin_make. ~
In that case, you can comment out the line related to compute_30 in CMakeLists.txt of darknet_ros to avoid the error.
~* For example, in the case of NVIDIA Tesla T4, delete the line "compute_30" and add "compute_75".
** Startup Procedure [#bc27b1e9]
Start the Ubuntu side and then the Windows side.
*** Ubuntu side startup procedure [#l39593fd]
Open a new terminal and run the following command:
$ roslaunch sigverse_turtlebot3_open_manipulator grasping_auto.launch
*** Windows side startup procedure [#df821e14]
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenManipulatorSR300(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenManipulator(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
** Run [#sd88b953]
You can control TurtleBot3 by keyboard operation on the grasping_auto terminal.
~* Check the terminal for details of the operation.
~* Because of the high image processing load, the robot's camera image transmission interval is set to 1000 [ms]. ~
(If you want to shorten the sending interval, please reduce the Sending Interval of the TurtleBot3PubSR300RGBController attached to turtlebot3_with_open_manipulator_SR300/RosBridgeScripts)
(If you want to shorten the sending interval, please reduce the Sending Interval of the ZEDMiniPubCameraImageController attached to turtlebot3_with_open_manipulator/RosBridgeScripts)
If you want to finish, stop the Unity side and then the ROS side.
Ubuntu side (The details may differ from the latest version)
#ref(TurtleBot3GraspAutoUbuntu.png)
Windows side (The details may differ from the latest version)
#ref(TurtleBot3GraspAutoWindows.png)
Windows side (grasped "clock") (The details may differ from the latest version)
#ref(TurtleBot3GraspAutoWindowsGrasping.png)
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''Reference Video''
(Image recognition is slow because no GPU is used.)
#youtube(eZgu1bO7KMM)
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#counter