A robot that can play table tennis, our final project for Berkeley EECS 106A. Please check out our wiki for an in-depth report and discussion of what we did.
Install ROS Kinetic and install rosdep. Then do
rosdep install --from-paths src --ignore-src -r -y
to install all necessary dependencies. Finally, do catkin_make from the root workspace directory.
Now to run the robot in Gazebo with MoveIt, do
roslaunch kuka_kr5_gazebo moveit_control.launch
Then to begin the vision pipeline, do
roslaunch ball_detection vision_pipeline.launch
Then to begin the robot arm controller, do
rosrun planning ball_controller.py
Then to spawn in some ping pong balls, do
rosrun kuka_kr5_gazebo spawn_ball.py