This project is about Robot Vision and Robot control with a non-planar (3D) robot with 4 degrees of freedom with two horizontal cameras on yz and xz axis. From the target cameras data, joint state estimation, target dection, Forward Kinematics, and Closed-Loop Contorl are acheived. In package ivr_assignment we uses three ROS nodes namely, image1.py, image2.py, RobotController.py, where that data collected and preprocessed by two images processng nodes are sychronized are computed and used to control the robot.
- Clone the repo then build using
catkin_make
- Make sure python scripts at are executable by running
chmod +x /src/ivr_assignment/src/*.py
- Launch the library
source devel/setup.bash roslaunch ivr assignment spawn.launch