ROBOTICS PROJECT

Final project for Introduction to Robotics course at the University of Trento.

Table of Contents

1. Presentation
2. Installation and Execution

Presentation

You can find a complete report here and the vision and kinematics documentations.

Here are some videos with the tasks that the robot is able to solve:

Simulated environment:

• video 1
• video 2
• video 3

Real environmnet

• video 1
• video 2
• video 3

Installation and execution

It is suggested to follow the locosim readme until this point: https://github.com/mfocchi/locosim#python, for download and setup all the catkin - Ros workspace.

Go to ~/ros_ws/src

cd ~/ros_ws/src

and clone the repo

git clone https://github.com/Massiccio1/loco-update.git

for the simulation

git clone --branch sim https://github.com/Massiccio1/loco-update.git

go back to ~/ros_ws , and run catkin_make install.

cd ..

catkin_make install

source devel/setup.bash

In another terminal run the ur5 robot launcher.
Edit params.py to match simulation/real robot and soft gripper / 3 finger gripper.

Run ur5_generic.py from inside loco-update

python3 ur5_generic.py

When the homing is finished

rosrun test_cpp test_cpp_node

and run visione_lab.py

python3 visione_lab.py

When the first vision message arrives, write "2" and type enter to start the procedure.

If the compilation gives an error, in the folder test_cpp/, replace CmakeLists.txt with CmakeLists.txt.bak

Team members

Damiano Bertolini - 217898
Matteo Beltrami - 217897
Massimo Girardelli - 209644

(back to top)