Apple picking robot
Creating autonomous robot for given size apples pitching in the controlled indoor environment to gain and share the knowledge between industry and academy.
Project structure
- data/ used throughout project. Usually we ignore data stored there from .git perspective.
- docs/ project documentations. All topics we want to be documented. See Docs table of content.
- Scientific papers/ and reviews. Usually you give and share papers using url but there are some papers which we may want to store in repository.
- presentations/ by team members.
- ros/ (Robot Operating System) used for inference with Virtual Environments or Robots
- experiments/ consists of different experiments such as training neural network, preparing datasets etc.
Run
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Install Docker on your machine if you do not already have it. See more information under section #first time run
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Pull latest Docker image and run it from terminal:
docker pull naurislv/apple_picking_robot docker run -it -p 6080:80 naurislv/apple_picking_robot
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Open browser: http://127.0.0.1:6080 and open terminal inside
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Running project.
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First navigate to ros directory:
cd /home/apple_picking_robot/ros
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Run
./run_apple_picker.sh --help
to see all possible input arguments:Apple Picker [options] application [arguments] options: -h, --help show brief help -rv, --rviz=bool if true then run ROS rviz GUI -r, --rqt=bool if true then run ROS rqt_image_view -c, --camera=bool if true then physical camera connected and no virtual env will be launched -su, --scene_understanding=bool if true then scene_understanding will be launched -kb, --keyboard=bool if true then run keyboard package for controlig Gazebo -w, --world=WORLD choose turtlebot world. empty | original | dbaby | None -gg, --gazebo_gui=bool if true then run gazebo GUI -yt, --youtube=LINK download youtube (LINK) video and copy it experiment directory Example: ./run_apple_picker.sh -r true -kb true -w dbaby Example: ./run_apple_picker.sh --rqt=true --keyboard=true --world=dbaby
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Run script with arguments e.g.:
./run_apple_picker.sh -r true -kb true -w dbaby
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Docs
- Robot (real and virtual environment) software and hardware architectures and related paper reviews.
- Intro to ROS
- How to use Docker for this project.
- UnrealEngine4
- How to setup Gazebo
The Team
In Progress: Create table of all team members
Image | Role | Name | Location | ||
---|---|---|---|---|---|
ML, Autonomy | Nauris Dorbe | Latvia, Riga | Nauris | naurisdorbe@gmail.com |
Our story
NIPS (Neural Information Processing Systems) conference 2017
We've been there with dBaby