fetchRobotRecycle

Here is the Group project for Robotics Assignment 2. For Fetch Robot Recycling

Important information:

The following package builds on top of the fetch gazebo ros package. Please install all fetch robot packages from ROS

Spawn Model

In order to get all the models to gazebo please copy all the folders that are inside the model file. Paste it in the following location

cp -avr ~/catkin_ws/src/fetch_recycle/models/ ~/.gazebo/models

Running Project

To run the project please run the following commands:

Luanch world:

roslaunch fetch_recycle mazeFetch.launch 

Run Joint controller:

rosrun fetch_recycle joint_controller.py 

RGBD Camera

If you have a camera please start the camera and adjust the launch file based on your camera specifications. Refer to Documentation below.

If you dont have a camera device such as a Intel realsense. Please run the rosbags. These bags are in the correspoding folder. To run the bags. Open Terminal

rosbag play <NAME OF BAG> -l

Teleop

To move the base of the robot please run:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py  

Matlab

Please ensure you have all the following ToolBoxes installed:

• robotics
• ROS
• optimization

Also please run Peter Corke Toolbox before Running the main.

Note: please Ensure before starting matlab that all the rostopic are running. Once start it please run start on the gui and do all the required motions.

Person Tracking Dependencies.

Please add the following folders into your catkin workspace. These file are under People_tracking_depencies

humanoid_msgs
pal_msgs
catkin_make

To add install external depencies please run

sudo apt-get install ros-melodic-kalman-filter 
sudo apt-get install ros-melodic-easy-markers 
sudo apt-get install ros-melodic-face-detector

alternatively, to install all dependencies please run

rosdep install --from-paths src --ignore-src -r -y

Add the human detection package into your workspace

pal_person_detector_opencv
catkin_make

Note: this package was mapped to an Intel RealSense D435i. If you want to use another camera. Please edit the topic or remap the topic from the launch file

roslaunch pal_person_detector_opencv detector.launch

To visualise the detection please run

rosrun image_view image_view image:=/person_detector/debug

Demonstration Video