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@ -19,4 +19,12 @@ Using a 7-DoF Franka Emika Panda Robot Arm, we developed a pick and place sequen
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## Computer Vision
The Intel Realsense 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.