(TurtleBot3)Grasp Automatically
[
Front page
] [
New
|
List of pages
|
Search
|
Recent changes
|
Help
]
Start:
[[Tutorial using ROS for ver.3]]
* Grasping with TurtleBot3 automatically [#e93a5390]
This example is a simple example that automatically grasp...
TurtleBot3 has OpenManipulator.
Object recognition by darknet_ros (YOLO) and Point Cloud ...
So CUDA must be installed in the Ubuntu in order to recog...
Although it is possible to check this example scene using...
The outline of the operation is as follows.
+ Move the TurtleBot3 to the front of the target object b...
+ Move the TurtleBot3 so that the target object comes to ...
+ Enter a number to specify the object to be grasped.
When the above operation is performed, TurtleBot3 tries t...
+ The darknet_ros (YOLO) performs object recognition usin...
+ Estimate the 3D position of the target object using col...
+ Grasp the calculated 3D position.
Please refer to [[here>http://emanual.robotis.com/docs/en...
Please refer to [[here>https://www.stereolabs.com/zed-min...
** Build Ubuntu environment [#c709f1fe]
In this example, darknet_ros (YOLO) needs to be installed...
It is recommended to check the operation of [[normal dark...
The procedure is as follows:
+ If you want to use CUDA, install the NVIDIA driver. (It...
+ If you want to use CUDA, download and install it from [...
(For details, please adjust according to your PC and NVID...
+ Git clone darknet_ros. ~
Download the commit that have been verified to work.
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/leggedrobotic...
$ cd darknet_ros
$ git checkout 1027a280
+ If you want to use CUDA, modify darknet_ros/darknet/Mak...
+ Install darknet_ros.
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
~* Depending on the combination of GPU and CUDA, you may ...
In that case, you can comment out the line related to com...
~* For example, in the case of NVIDIA Tesla T4, delete th...
** 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 graspin...
*** Windows side startup procedure [#df821e14]
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenM...
** Run [#sd88b953]
You can control TurtleBot3 by keyboard operation on the g...
~* Check the terminal for details of the operation.
~* Because of the high image processing load, the robot's...
(If you want to shorten the sending interval, please redu...
If you want to finish, stop the Unity side and then the R...
Ubuntu side (The details may differ from the latest versi...
#ref(TurtleBot3GraspAutoUbuntu.png)
Windows side (The details may differ from the latest vers...
#ref(TurtleBot3GraspAutoWindows.png)
Windows side (grasped "clock") (The details may differ fr...
#ref(TurtleBot3GraspAutoWindowsGrasping.png)
----
''Reference Video''
(Image recognition is slow because no GPU is used.)
#youtube(eZgu1bO7KMM)
----
#counter
End:
[[Tutorial using ROS for ver.3]]
* Grasping with TurtleBot3 automatically [#e93a5390]
This example is a simple example that automatically grasp...
TurtleBot3 has OpenManipulator.
Object recognition by darknet_ros (YOLO) and Point Cloud ...
So CUDA must be installed in the Ubuntu in order to recog...
Although it is possible to check this example scene using...
The outline of the operation is as follows.
+ Move the TurtleBot3 to the front of the target object b...
+ Move the TurtleBot3 so that the target object comes to ...
+ Enter a number to specify the object to be grasped.
When the above operation is performed, TurtleBot3 tries t...
+ The darknet_ros (YOLO) performs object recognition usin...
+ Estimate the 3D position of the target object using col...
+ Grasp the calculated 3D position.
Please refer to [[here>http://emanual.robotis.com/docs/en...
Please refer to [[here>https://www.stereolabs.com/zed-min...
** Build Ubuntu environment [#c709f1fe]
In this example, darknet_ros (YOLO) needs to be installed...
It is recommended to check the operation of [[normal dark...
The procedure is as follows:
+ If you want to use CUDA, install the NVIDIA driver. (It...
+ If you want to use CUDA, download and install it from [...
(For details, please adjust according to your PC and NVID...
+ Git clone darknet_ros. ~
Download the commit that have been verified to work.
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/leggedrobotic...
$ cd darknet_ros
$ git checkout 1027a280
+ If you want to use CUDA, modify darknet_ros/darknet/Mak...
+ Install darknet_ros.
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
~* Depending on the combination of GPU and CUDA, you may ...
In that case, you can comment out the line related to com...
~* For example, in the case of NVIDIA Tesla T4, delete th...
** 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 graspin...
*** Windows side startup procedure [#df821e14]
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot3/OpenM...
** Run [#sd88b953]
You can control TurtleBot3 by keyboard operation on the g...
~* Check the terminal for details of the operation.
~* Because of the high image processing load, the robot's...
(If you want to shorten the sending interval, please redu...
If you want to finish, stop the Unity side and then the R...
Ubuntu side (The details may differ from the latest versi...
#ref(TurtleBot3GraspAutoUbuntu.png)
Windows side (The details may differ from the latest vers...
#ref(TurtleBot3GraspAutoWindows.png)
Windows side (grasped "clock") (The details may differ fr...
#ref(TurtleBot3GraspAutoWindowsGrasping.png)
----
''Reference Video''
(Image recognition is slow because no GPU is used.)
#youtube(eZgu1bO7KMM)
----
#counter
Page:
![[PukiWiki]](image/Concept_logo.jpg "[PukiWiki]"){kind=logo}
