JS-RML/shallow_depth_insertion_deprecated

This package has been deprecated. Please find the newest version (https://github.com/HKUST-RML/shallow_depth_insertion).

Shallow-Depth Insertion (Deprecated)

Note: This package has been deprecated. To see the most recent version, go here.

This is a ROS package to demonstrate a robotic manipulation technique, particularly assembling a thin object into a complementary shallow hole. The utilized hardware includes UR10 robotic arm and Robotiq 2-Finger 140mm Adaptive parallel-jaw gripper.

To watch video, see: here

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Hardware Prerequisites

• Universal Robots UR10 robot arm

• Robotiq 140mm Adaptive parallel-jaw gripper

• FT 300 Force Torque Sensor

• 1080p webcam

Software Prerequisites

• ROS kinetic
• universal_robot package
• ur_modern_driver
• MoveIt!
• Rviz
• Software tested on Ubuntu 16.04.3 LTS.
• AprilTags

How to run it

1. Appropriately connect to the robot arm and gripper hardwares.
2. Launch

roslaunch shallow_depth_insertion manipulation_ur10.launch

roslaunch shallow_depth_insertion april_tags.launch

3. Run the executable python script:

rosrun shallow_depth_insertion shallow_depth_insertion.py

Authors

• John Kim (chkimaa@connect.ust.hk)