Visual-Servo

​ This is a visual servo application using MoveIt and AprilTag

Install

• Dependencies

​ The main application depends on OpenCv 3.4.5, MoveIt (Prebuilt Binaries), ros-kinetic, AprilTag, Sophus CV_bridge, aubo_robot and realsense . For simulation you should install Gazebo too.

​ see Environment.md for details install commands.

• Packages

  Under your workspace source folder, use commands below, then use catkin_make

  git clone https://github.com/ZhouYixuanRobtic/aubo_robot_realsense.git
  git clone https://github.com/ZhouYixuanRobtic/Visual-Servo.git
  

Usage

• Simulation

  roslaunch visual_servo visual_servo_sim.launch 
  

  ​ After the simulation nodes launched clearly, then use

  rosrun visual_servo visual_servo 
  rosrun visual_servo maTest
  

• real robot

  ​ Check the robot's IP, if it is not 192.168.2.13 then modify the visual_servo_real.launch file. Make sure all sensors are ready and the EMERGENCY STOP is as near as you can reach. Then run

  roslaunch visual_servo visual_servo_real.launch 
  

  ​ After it's launched clearly, run

  rosrun visual_servo maTest