/UR-ROS-Control

Moveit!을 이용한 로보팔 제어 공부 내용입니다.

Primary LanguagePython

UR3-ROS-Control

Overview

Universal Robot (UR3) moving to detected object with ROS using a realsense camera.

It is for UR3, UR5 and UR10 manipulator(I'm using only UR3 real-hardwrae) with Moveit!. It detects object using darknet-ros and jsk-pcl.

They are tested under ROS1 melodic and Ubuntu 18.04, OpenCV 3.4.0, CUDA Version 10.2.

Installation

If you want to use this package, please follow this procedure

Dependencies

This package works on the ROS(Robot Operating System).

  1. Please check your linux version, before downloading ROS

    Ubuntu 18.04 (melodic install)

  2. YOLO depends on the OpenCV (at least 3.4.x)

    ROS1 default python package is python2.7. so please keep in mind installing OpenCV 3.4.0 on python2.

  3. Make your own package. Please follow this procedure

    $ mkdir -p ~/catkin_ws/src
$ cd ..
$ catkin_make	# build, devel, src directory will be made
$ source ~/catkin_ws/devel/setup.bash	# register workspace

  4. darknet_ros_3d

    I used YOLOV4 model to detect the object

    $ cd ~/catkin_ws/src
$ git clone https://github.com/tom13133/darknet_ros			
$ cd darknet_ros
$ rm -rf darknet
$ git clone https://github.com/AlexeyAB/darknet 		// clone darknet
$ cd ..
$ catkin_make

  5. IntelRealSense

    • Download IntelRealsense SDK

      // install some packages to build the IntelRealsense SDK
$ sudo apt install libgtk-3-dev libxcursor-dev libxinerama-dev
$ tar zxf librealsense-2.41.0			// i installed RealSenseSDK(v2.41.0)
$ cd librealsense2.41.0
$ mkdir build
$ cd build
$ cmake ..

// start SDK build
$ make -j$(nproc)
// After finish build completely, start install
$ sudo make install

    • Realsense-ros

      $ cd ~/catkin_ws/src
$ git clone https://github.com/IntelRealSense/realsense-ros.git
$ cd ..
$ catkin_make

    • Please check the realsense-ros version because it depends on the Intel RealSense SDK

      (I installed RealSenseSDK(v2.41.0) matches realsense-ros(2.2.1))

      For more details, please refer https://github.com/IntelRealSense/realsense-ros/releases

  6. Universal Robit, ur_modern_driver

    $ cd ~/catkin_ws/src
$ git clone https://github.com/ros-industrial/universal_robot
$ git clone https://github.com/ThomasTimm/ur_modern_driver
$ cd ..
$ catkin_make

    You might be see a error during building your project. Refer this document.

  7. Moveit!

    $ sudo apt-get install ros-melodic-moveit

Todo

  • UR3 로봇을 가지고 실험해보는 것 정리하기 -> 새롭게 하나 패키지 파서 거기에 차근차근 정리하는 것도 괜찮을 듯
  • object detection을 진행하는것
  • 사용한 yolov3, v4 모델에 대해 내용 -> 내 나름대로 이렇게 사용하면 좋겠다 등등을 정리하여 올린다.

Start

  1. UR manipulator with moveit test (I'm using UR3 model)

    • Bringup Gazebo

      $ roslaunch ur_gazebo ur3.launch
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true
$ roslaunch ur3_moveit_config moveit_rviz.launch config:=true

    • Bringup Real UR manipulator

      $ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

      For more details, visit here.

    • Contolling the UR manipulator

      $ rosrun ur_modern_driver test_move.py

  2. Copy and paste

    $ cd UR3-ROS-Control/darknet_ros

in config directory
$ cp -r ros.yaml ~/catkin_ws/src/darknet_ros/darknet_ros/config
$ cp -r tomato.yaml ~/catkin_ws/src/darknet_ros/darknet_ros/config
$ cp -r tomato_yolo_jsk.rviz ~/catkin_ws/src/darknet_ros/darknet_ros/config

in launch directory
$ cp -r bringup_d435.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r darknet_ros.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_detect_rviz.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_detection.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch
$ cp -r object_jsk_test.launch ~/catkin_ws/src/darknet_ros/darknet_ros/launch

in darknet_ros directory
$ mv src ~/catkin_ws/src/darknet_ros/darknet_ros/src
$ mv include ~/catkin_ws/src/darknet_ros/darknet_ros/include

in yolo_network_config/cfg
$ cp -r tomato.cfg ~/catkin_ws/src/darknet_ros/darknet_ros/cfg

in universal_robot directory
$ mv ur_description ~/catkin_ws/src/universal_robot/ur_description
$ mv ur_description ~/catkin_ws/src/universal_robot/ur3_moveit_config

    Weight file Download link

    $ cp -r tomato_3000.weights ~/catkin_ws/src/darknet_ros/darknet_ros/yolo_network_config/weights

  3. Launch

    • Bringup Gazebo

      $ roscore
$ roslaunch ur_gazebo ur3.launch
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true

    • (Or) Bringup RealRobot

      $ roscore
$ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=ROBOT_IP
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch

    • start Rviz

      $ roslaunch darknet_ros object_detect_rviz.launch
$ roslaunch darknet_ros object_jsk_test.launch
$ roslaunch darknet_ros ur3_yolo_move.py 		// Control UR3 with YOLO