30 lines
No EOL
1.7 KiB
Markdown
30 lines
No EOL
1.7 KiB
Markdown
---
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title: "ToastBot"
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date: 2024-12-12T09:00:00+00:00
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description: Pick and Place Sequence using the Franka Emika Panda Robot Arm
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hero: images/toastbot.jpg
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author:
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image: /images/sharwin_portrait.jpg
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menu:
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sidebar:
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name: Toastbot
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identifier: ToastBot
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weight: 2
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tags: ["Python", "ROS", "Moveit API", "Intel Realsense"]
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# categories: ["Basic"]
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---
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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.
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<!-- Embed this youtube video: https://www.youtube.com/watch?v=XGcdhWRo-iU&t=1s -->
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<div align="center">
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<iframe width="560" height="315" src="https://www.youtube.com/embed/XGcdhWRo-iU" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
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</div>
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## Computer Vision
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The Intel Realsense camera has a ROS package `realsense` that enables the camera to publish depth and color images.
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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
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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.
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## Robot Arm Control
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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. |