Control a UR5 antropomorphic manipulator. Recognize objects using YOLO model and move them to the correct positions.
Kinematics + PID Controller
ROS + Gazebo for the enviroment's simulation.
To launch Gazebo:
catkin_make OPPURE catkin build --env-cache
source devel/setup.bash
roslaunch ur5_pkg ur5_gripper.launch
Fast all-in-one command:
catkin build --env-cache && source devel/setup.bash && clear && roslaunch ur5_pkg ur5_gripper.launch
To run our node in a new shell:
source devel/setup.bash
rosrun ur5_pkg node
Fast all-in-one command:
catkin build --env-cache && source devel/setup.bash && clear && rosrun ur5_pkg node
source devel/setup.bash && clear && rosrun ur5_pkg node
Add to .bashrc:
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:{$WORK_DIR}/ros_project/src/ur5_pkg/models
Install python dependences:
pip3 install torch torchvision
sudo apt install python3-pandas
sudo apt install python3-tqdm
pip install seaborn