autobots visman f22

This repository contains some modules for exploring vision-based manipulation in the Fall 2022 section of the Autobots VIP.

development

Install the pre-commit hooks:

pre-commit install

Make sure you have the following repositories checked out into your catkin workspace:

On a clean Ubuntu 20.04 instance, install ROS Noetic via ros-noetic-desktop-full. Also install catkin_tools.

Add the following packages to your catkin workspace:

cd src

git clone [email protected]:ivalab/simData.git
git clone [email protected]:ivaROS/ivaHandy.git
git clone --recurse-submodules [email protected]:rickstaa/realsense-ros-gazebo.git
git clone [email protected]:machinekoder/ros_pytest.git

Install all the dependencies via rosdep (or by hand):

rosdep install --from-paths src --ignore-src -r -y

Build the packages:

catkin build

Then launch one of the demos.

# ensure you source the setup file for roslaunch
source devel/setup.zsh

roslaunch visman_learning_adventure empty_world.launch

Here's a list of launch files included in this project, building up into tasks of larger complexity.

project	name	description
visman_learning_adventure	empty_world	setup an empty world in gazebo
visman_learning_adventure	hammer	import a model from the 3d warehouse
visman_learning_adventure	arm	launch a world with the handy arm
visman_learning_adventure	camera_box	launch a world with a realsense camera in front of a box
visman_learning_adventure	tabletop	launch a world with a box with a checkerboard pattern, calibration attempt #1

To run unit tests:

catkin test

reference

catkin usage

To create a new project:

catkin create pkg --rosdistro noetic ${package_name}

ivaHandy (i.e. finalarm)

Not sure why handy is named finalarm in the ivaHandy repo, but we use the naming scheme throughout. The README has useful documentation regarding what resources need to be online.

We can launch the rviz interface to play with motion planning.

roslaunch finalarm_moveit_config demo.launch

simData and imgSaver

A non-trivial amount of starting code is pulled from the simData projects. Contributions are made back where appropriate.

• simData_imgSaver
  • launch files, some models, and reference for utilizing rospy
• simData
  • model files for common objects

camera setup

You can read more about camera setup in the Working with Cameras documentation.