/visual-servoing-toolkit

A matlab and python based toolkit built over ROS and Gazebo for visual servoing.

Primary LanguagePython

visual-servoing-toolkit

Visual servoing codes for matlab and python. Includes gazebo integration.

  • note: Currently only Python scipts are supported.

Requires:

  1. libgazebo_ros_openni_kinect
  2. opencv-contrib (pip2 install opencv-contrib-python==3.3.1.11, Note: uninstall existing opencv-python first.)

Installation:

  • just copy the floder in your catkin workspace, do catkin_make and source devel/setup.bash

Demo:

IBVS with Aruco marker:

  1. 'roslaunch visual_servoing free_cam_aruco_marker.launch'
  2. in another terminal: 'roscd visual_servoing/scripts/python/examples/'
  3. 'python2 ibvs_aruco.py'

Tested with:

  1. Ubuntu 16.04
  2. ROS Kinetic
  3. Gazebo 7.0.0
  4. Python 2.7
  5. opencv-contrib-python 3.3.1.11