osu-capstone-afrl / photogrammetry-capture-motion

ROS Package for Reconstruction Motion (moves camera on robot)

Capture Tool for Photogrammetry Image Set 📷

Support package for capturing images from a DSLR camera mounted to the flange of a Motoman GP7. Intended to support a undergraduate capstone project on robotic inspection applications. Developed at The Ohio State University.

Note: This repository was designed for ROS Melodic. It has not been tested on other distributions. Specifically designed for the Motoman GP7 robot as supported by the ROS-Industrial program.

Tools Contained

• Inclined Plane Motion Method (for Motoman GP7)

Installation

The following section explains how to setup the package to work.

Prerequisites

• ROS Melodic: For obtaining and configuring ROS follow the installation instructions for full-desktop Melodic installation.
• Catkin workspace: Create a clean catkin-tools workspace.
• MoveIt 1: For installation instructions see MoveIt's webpage.

Required Repositories

Clone the below repositories into your catkin-tools workspace:

• photogrammetry_capture_motion
• ros-industrial/motoman

Dependencies

To automatically install any missing dependencies of your ROS installation, run the following terminal commands:

#---------- install third party dependencies -----------
sudo apt-get update
# Move to the root of the workspace
cd [PATH/TO/YOUR/WORKSPACE]
# Install all dependencies of packages in the workspace
rosdep install --from-paths src --ignore-src -r -y
# Install all python dependencies
pip install -r src/photogrammetry_capture_motion/requirements.txt
# Build your workspace
catkin build
source devel/setup.bash

Once the workspace build process is completed you are ready to start playing...cheers!

Install missing dependencies

If the build fails, it occurs usually to missing package dependencies or missing third party (non-ros) packages. When this occurs the build log in the terminal indicates the name of the package dependency that it is missing, then try:

sudo apt-get update ros-kinetic-[package-name]
# separate the package name words with a '-'

If a package is not found it is probably a third-party dependency, google the name of the package and search for installation instructions:

Usage

roslaunch motoman_gp7_moveit_config moveit_planning_execution.launch sim:=true
rosrun photogrammetry_capture_motion motion_inclined_plane.py