CR5_Project

Dobot CR5 with Intel Realsense D435i for object detection and pose estimation (bin-picking application).

This project is present the robot arm application especially bin-picking base on Dobot CR5 using ROS which detect an object and 6d pose estimation with intel realsense d435i depth camera by detection find-object app.

Requirement

• ubuntu 20.04
• ROS noetic

Building

Use git to clone the source code

cd $HOME/catkin_ws/src
git clone https://github.com/Dobot-Arm/CR_ROS.git
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/introlab/find-object.git
git clone https://github.com/monkeyrom/CR5_Project.git
cd $HOME/catkin_ws

building

catkin_make

set the dobot type

echo "export DOBOT_TYPE=cr5" >> ~/.bashrc
source ~/.bashrc
source $HOME/catkin_ws/devel/setup.bash

1. Launch Project

• Connect the robotic arm with following command, and default robot_ip is 192.168.1.6

    roslaunch CR5_Project CR5_with_realsense.launch

• this command will launch
  • dobot_bringup
  • realsense camera pointcloud
  • find object 2d
  • tf synchronisation

rviz display

find object GUI

2. Add object image for detection

• Using find object gui for adding image

  • edit

  • add object from scene

  • take picture

  • crop object

tf synchronize

3. Run a terminal for controlling robot

    rosrun CR5_Project service_call.launch

• this command will run 2 nodes and spawn new terminal for commanding
  • service_call
  • main_control

new terminal for input command

Real Robotic Arm

Dobot CR5

Intel Realsense D435i

References

• CR_ROS: https://github.com/Dobot-Arm/CR_ROS
• find-object: https://github.com/introlab/find-object