roslaunch chess_detector camera.launch roslaunch chess_detector split_squares.launch
#rosrun chess_detector aruco_detector.py
Bringup in Gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/catkin_ws/src/chessboard-detector/gazebo_models/
roslaunch ur_e_gazebo ur3e.launch limited:=true world_file:='$(find chess_detector)/world/chessboard.world' z:=1.02 roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch sim:=true limited:=true
Bringup real robot: roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=10.0.0.244 limited:=true roslaunch rh_p12_rn_a_tools bringup.launch
roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch limited:=true roslaunch ur3_e_moveit_config moveit_rviz.launch config:=true
Start chess: rosrun ur_tools chess.py
In ROS Melodic we have to compile cv_bridge against Python3:
sudo apt-get install python-catkin-tools python3-dev python3-numpy
mkdir ~/cv_bridge_ws && cd ~/cv_bridge_ws
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install
mkdir src cd src git clone -b melodic https://github.com/ros-perception/vision_opencv.git
cd ~/catkin_build_ws catkin build cv_bridge source install/setup.bash --extend source /home/david/cv_bridge_ws/install/setup.bash --extend
...
</link>
</model>
<!-- A gazebo links attacher -->
<plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so"/>
</world>
</sdf>