Project 5

Pose Estimation

Authors

• Georg Talasz
• Johannes Rathgeb
• Clemens Wondrak
• Milos Jovanovic
• Tim Konrad

Initialization

1.) Start container 1.1) bash run_docker_from_hub.sh (SHARED_DIR=/home/fhtw_user/catkin_ws/src) 2.) In folder catkin_ws/src/: 2.1) git clone https://github.com/ClemensWon/pose_estimation.git (only once) 2.2) the cloned folder name needs to be pose_estimation (catkin_ws/src/pose_estimation) 3.) In folder catkin_ws/: 3.1) bash ./src/pose_estimation/start_up.sh 3.2) we install all plugins, python modules and run catkin_make (this can take a while because we also install torch for prediction) 3.3) bash source devel/setup.bash 4.) roslaunch pose_estimation generat_dataset.launch 5.) roslaunch pose_estimation spawn_pick_up.launch (you need model weights in folder /trained_model)

Directory

main directories and important files

• pose_estimation
  • .gitignore
  • ReadMe.md
  • startup.sh
  • pose_estimation/
    • config/
    • dataset/
    • launch/
      • generate_dataset.launch
      • spawn_pick_up.launch
    • maps/
    • saved_images/
    • src/
      • ml/
        • trained_model/best_pose_estimation_model.pth
        • predict.py
      • services/
        • camera_snap.py
        • gripper_service.py
        • move_to_coordinate.py
        • moveit.py
        • spawn_objects.py
      • generate_dataset.py
      • pick_and_place.py
    • srv/
    • urdf/
  • robotiq_description/
  • roboticsgroup_upatras_gazebo_plugins/
  • universal_robot/

External Plugins

• Universal robot https://github.com/ros-industrial/universal_robot
• Gripper https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect/tree/master
• Moveit https://www.moveit.at/

Main Actions

Data Generation

Action to collect data for model training

• In folder /catkin_ws:
• roslaunch pose_estimation generate_dataset.launch

important files are: generate_dataset.launch / data_collector.py

Pick and place

Action for pick and place action

• In folder /catkin_ws:
• roslaunch pose_estimation spawn_pick_up.launch

important files are: spawn_pick_up.launch / pick_and_place.py

Services

Spawn Object:

rosservice call /spawn_object "{}" rosservice call /delete_object "object_id: 'e3b235e0-1d86-4aa9-b603-d40115f3e2e8'"

Test moveit

• roslaunch pose_estimation spawn_main.launch
• send some position values to moveit node:
• rosservice call /move_joints "joint_values: [0.0, -1.57, 0.0, 0.0, 0.0, 1.57]"

Open/Close Gripper

In folder /catkin_ws:

• roslaunch pose_estimation spawn_main.launch
• send some position values to moveit node: OPEN: rosrun pose_estimation gripper.py 0.0 CLOSE: rosrun pose_estimation gripper.py 0.75

Snap a photo

In folder /catkin_ws:

• roslaunch pose_estimation spawn_main.launch rostopic pub /take_picture std_msgs/String "data: 'object1'"

Move to coordinates

In folder /catkin_ws:

• roslaunch pose_estimation spawn_pick_up.launch rosservice call /move_to_coordinate "target_coordinate: position: x: 0.5 y: 0.2 z: 0.3 orientation: x: 0.0 y: 0.707 z: 0.0 w: 0.707"

Move single Joint

In folder /catkin_ws: rosservice call /move_single_joint "joint_index: 5 joint_value: -1.57"