The box grasping workspace for master thesis.
Content:
'''
realsense
'''
## driver
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud align_depth:=true
rosrun pcl_tutorial save_depth_with_mask /camera/color/image_raw /camera/depth/image_rect_raw imgs
# main
rosrun pcl_tutorial main reso/box_small/thin.pcd -o 0.7 -d 0.01 -t 1000 -n 100 -it 100
# laser line
roslaunch pcl_tutorial filter_laser.launch
roslaunch laserline laserline.launch
roslaunch laser_line_extraction example.launch
rosrun pcl_tutorial counter_pose 2.0 0.65,0.75
# tf
rosrun tf static_transform_publisher 0.00662214 0.0339903 -0.0687947 0.919409 -0.392716 0.0021969 0.0213767 arm_left_link_7_t camera_rgb_optical_frame 100
## sda driver
roslaunch motoman_sda5f_support robot_interface_streaming_sda5f.launch
roslaunch motoman_sda5f_moveit_config demo_real.launch - laser detection
- laser points differ
- low-pass filter
- line detection
- camera recognition
- hsv segmentation
- 6D pose estimation: ICP+ Super4PCS
- motion planning
constraint:
- moveit: p:0.03009/execute:5.8763 0.03543/5.9266123
- yeebot: p:0.024/4.337 0.024/4.56
- conclusion:
- planning time com: 0.035-0.024
- execution com: 4.337-5.926
| back | cartesian | constraint | counter | block | |
|---|---|---|---|---|---|
| planning | 0.0183 | 0.0246 | 0.0219 | 0.0356 | 0.5130 |
| execution | 3.79 | 6.86 | 3.62 | - | - |
| all time | 14.8884 | planning | 0.0648 | execution | 14.2750 |
241/h
initial states:
[arm_left_joint_1_s, arm_left_joint_2_l, arm_left_joint_3_e, arm_left_joint_4_u, arm_left_joint_5_r,arm_left_joint_6_b, arm_left_joint_7_t]
position: [2.6937308311462402, -1.7499834299087524, -1.922503113746643, 0.04039989039301872, 0.8331186175346375, -1.1421606540679932, 1.8852884769439697]
initial_states(2019-12-05):
[arm_left_joint_1_s, arm_left_joint_2_l, arm_left_joint_3_e, arm_left_joint_4_u, arm_left_joint_5_r,
arm_left_joint_6_b, arm_left_joint_7_t] position: [-0.022554073482751846, 1.3352922201156616, 1.1472201347351074, 0.19595465064048767, 0.7072410583496094, -0.9488791227340698, 1.834251046180725]
counter pose: 0.74654 4.07403e-17 -0.66534 0.76544 -0.66534 4.57124e-17 -0.74654 -0.963605 0 1 6.12323e-17 0 0 0 0 1
hokuyo: 40hz
sda: 192.168.1.10 hokuyo: 192.168.1.11 pc-sda: 192.168.1.87
The sensor link is published by static_transform_publisher in motoman_sda5f_moveit_config/launch/motoman_sda5f_moveit_sensor_manager.launch
sensor list: - asus camera: 0.00662214 0.0339903 -0.0687947 0.919409 -0.392716 0.0021969 0.0213767 /arm_left_link_7_t /camera_rgb_optical_frame 100 - hokuyo laser: 0.43 -0.15 0.68 0 0 0 1 /world /laser 100
right gripper:
- gripper legth: 210mm
- gripper bottom to end-effector: 134.7mm
- gripper finger width: 5mm
# asus 2
*** Added sample 152, p_x = 0.661, p_y = 0.708, p_size = 0.253, skew = 0.724
('D = ', [-0.010767126205035457, 0.02878932007658363, -0.007516792631713471, -0.003062193530694651, 0.0])
('K = ', [536.3783314976719, 0.0, 325.59688771858265, 0.0, 539.4028276436596, 240.028337450314, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [541.3510131835938, 0.0, 323.52929686348944, 0.0, 0.0, 542.7696533203125, 236.24413879678468, 0.0, 0.0, 0.0, 1.0, 0.0])
- ork_ws
- motoman sda5f driver
- calibration
- laser_line_extration
- laser_line_segment
- yeebot_core
- openni2 driver
- realsense driver
- hokuyo driver: urg-node
- laser_geometry
- PCL along with ros
- OpenCV along with ros
- Sophus for
calibration - Ceres for
calibration - gflags for
calibration - ncurses: sudo apt-get install libncurses5-dev
items time/ms score/e-5
super4pcs+icp 479 3.264
498 3.971
super4pcs 289 3.682
241 3.98
281 4.337
688 3.45
super4pcs(before)212 3.9
428 3.25
374 4.62
super4pcs+icp 1460 2.73
1380 2.82
1040 2.75
ppf 400 k
1020
876