Visual Servoing lab
This lab was created by Pere Ridao and Narcís Palomeras by the Erasmus Mundus Joint Master Degree MAIA in the University of Girona for a course about Medical Robots.
Installation
The package has been tested on Ubuntu 18.04 and ROS Melodic but it should work with other ROS flavours. This package has 2 dependencies that have to be manually installed:
- https://github.com/ros-industrial/kuka_experimental: To have the URDF for the kuka manipulator.
- https://github.com/lucasw/rviz_camera_stream: To simulate a camera using only RViz.
Clone this package and the 2 dependencies in your CATKIN_WORKSPACE using $ git clone .... Then check that everything is correctly installed. To do it execute:
$ roslaunch visual_servoing visual_servoing.launchAn RViz window similar to this one should appears.
If you want to move the arm manually be sure to enable the param
<param name="use_gui" value="true" />in the file ./launch/visual_servoing.launch.
Exercises
This package will be used to perform a couple of exercises that will be provided to you. Follow them to complete the lab.