From 3ca717332a2288f52889c410172a5d683e32a18f Mon Sep 17 00:00:00 2001 From: Sharwin Patil Date: Sat, 11 Jan 2025 15:27:08 -0600 Subject: [PATCH] ToastBot Project Post --- content/posts/toastbot/index.md | 21 ++++++++++++++++----- content/posts/toastbot/toastbot_rviz.jpg | Bin 0 -> 132549 bytes data/en/sections/projects.yaml | 2 +- 3 files changed, 17 insertions(+), 6 deletions(-) create mode 100644 content/posts/toastbot/toastbot_rviz.jpg diff --git a/content/posts/toastbot/index.md b/content/posts/toastbot/index.md index 48ff014..0da765c 100644 --- a/content/posts/toastbot/index.md +++ b/content/posts/toastbot/index.md @@ -10,21 +10,32 @@ menu: name: Toastbot identifier: ToastBot weight: 2 -tags: ["Python", "ROS", "Moveit API", "Intel Realsense"] +tags: ["Python", "ROS", "RViz", "Moveit API", "Intel Realsense"] # categories: ["Basic"] --- Using a 7-DoF Franka Emika Panda Robot Arm, we developed a pick and place sequence using an Intel Realsense camera for identifying april tags. -
+## Robot Arm Control +The Franka Emika Panda Robot Arm has a ROS package `franka_ros` which allows us to control the robot arm using the Moveit API. +The Moveit API offers services and action servers to faciliate trajectory planning, end-effector operation, and motion profiling. + +Prior to the start of the project, we developed our own API that offered higher level tasks such as pose-to-pose motions, end-effector operations, and cartesian path planning. +This API enabled a ROS node to be connected to the MoveIt API and send motion requests. + ## Computer Vision -The Intel Realsense camera has a ROS package `realsense` that enables the camera to publish depth and color images. +The Intel Realsense D435i camera has a ROS package `realsense` that enables the camera to publish depth and color images. In order to identify april tags, we used the `apriltag_ros` package which subscribes to the camera images and publishes the detected tags which each have a unique ID. The tags were used to locate the positions of objects in the scene as well as localize the camera frame from the robot's base frame. -## Robot Arm Control -The Franka Emika Panda Robot Arm has a ROS package `franka_ros` which allows us to control the robot arm using the Moveit API. The Moveit API offers services and action servers to faciliate trajectory planning, end-effector operation, and motion profiling. On top of the Moveit API, we developed our own Motion Planner that offers higher level tasks such as pose-to-pose motions, end-effector operations, and cartesian path planning. \ No newline at end of file +## Scene planning +The scene around the robot was carefully planned to ensure every object that the robot needed to interact with was within its workspace. +Planning was done by hand and with simulation (RViz) to explore the robot's workspace. + +
+ ToastBot in RViz +
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robot arm and an Intel Realsense Camera. - tags: ["Python", "ROS", "Moveit API", "Intel Realsense"] + tags: ["Python", "ROS", "RViz", "Moveit API", "Intel Realsense"] - name: Automated Poker Table image: /images/bike_dealer.gif