sudhirpratapyadav / open_manipulator_x

open_manipulator_x

ROS package for Open Manipulator Robot to provide functionality of GYM like environment for Reinforcement Learning

Requirements

1. OpenMANIPULATOR-X ros packages

• Link: https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/

Basic Fuctionalities

1. Object Detector

• uses pyrealsense2 to access intel D455 depth camera to get RGB and Depth image.
• Detect object ([u,v] i.e. center of object in image coordinates) in the RGB image (simple pink/red color object based on HSV thresholding)
• Backproject (u,v) to (X,Y,Z)_cam using depth
• Transfomrs (X,Y,Z)_cam to (X,Y,Z)_wolrd using a Chekerboard pattern placed in the world acting as origin of world cordinate
• Publishes object_position to /object_pos topoic which can be subscribed by other nodes

https://file.io/SAlGzN2hTcIB