It is a meta-package for 'Hit the Ball without markers' ROS Project.
It referenced open_manipulator_pick_and_place Example
, and edited it a bit for detecting 3D objects without any markers and controlling them.
This 'ros_manipulator_hit_the_ball' meta-package is consisted of 4 packages
A package commanding 3 executing modes(HOME, START, STOP).
I made it by editing 'open_manipulator_pick_and_place' pkg a bit.
A core package in this project detecting user's balls without any markers.
I made it by editing 'ar_track_alvar' pkg a bit.
A package for messages used in 'ball_track_alvar' pkg.
It is just a copy of 'ar_track_alvar_msgs' pkg.
Many names are changes for avoiding build errors occured by 'same name' and better readable codes
A package for a core launch file and showing things in 3D.
It is just a combination of copies of 'open_manipulator_description' pkg and 'open_manipulator_ar_markers' pkg Many names are changes for avoiding build errors occured by 'same name' and better readable codes
The following commands will install this 'ros_manipulator_hit_the_ball' meta-pkg
$ cd ~/catkin_ws/src $ git clone https://github.com/Kihwan-Ryoo/ros_manipulator_hit_the_ball.git $ cd ~/catkin_ws && catkin_make
- open_manipulator meta-package for using 'open_manipulator_controller' pkg
The following commands will install 'open_manipulator' meta-pkg
$ cd ~/catkin_ws/src $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/open_manipulator.git $ cd ~/catkin_ws && catkin_make - realsense meta-package
The following commands will install relevant Intel RealSense Depth Camera library
$ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE $ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u $ sudo apt-get install librealsense2-dev librealsense2-utils ros-kinetic-rgbd-launch$ cd ~/catkin_ws/src $ git clone https://github.com/intel-ros/realsense.git $ cd ~/catkin_ws && catkin_make
Tested environment: Ubuntu 18.04 + ros-melodic
Run roscore
$ roscore
After run roscore, Run the controller of OpenMANIPULATOR.
It works only when a real robot arm is connected.
$ roslaunch open_manipulator_controller open_manipulator_controller.launch
Execute a package that recognizes the balls without any markers.
Enter the camera you are using and the diameter of the ball.
$ roslaunch ros_manipulator_description ball_pose.launch camera_model:=realsense_d415 user_ball_diameter:=${ball_diameter_in_centimeter}
Execute a package that commands 3 modes.
$ roslaunch ros_manipulator_hit_the_ball ros_manipulator_hit_the_ball.launch
Captured image
see full video here (Youtube)