Fundamentals of Robotics- UR5 project

Requirements

For running each sample code:

• Ros Noetic: http://wiki.ros.org/noetic/Installation
• Gazebo: https://classic.gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros
• Yolov5 https://github.com/ultralytics/yolov5
• Catkin https://catkin-tools.readthedocs.io/en/latest/

Installation and setup

we suggest to follow the locosim readme until this point: https://github.com/mfocchi/locosim#python, for download and setup all the catkin - Ros workspace.

For gazebo and Yolov5 , follow their own tutorial .

Once you have done the previous step :

Setup catkin workspace and clone the repository

mkdir -p ~/ros_ws/src

cd ~/ros_ws/src

Now you need to call the following line manually (next you will see that it will be done automatically in the .bashrc)

source /opt/ros/ROS_VERSION/setup.bash

cd ~/ros_ws/

 catkin_make

 cd ~/ros_ws/src/ 

Now you can clone the repository inside the ROS workspace you just created:

git clone https://github.com/MattiaRigon/Ur5_motion_and_Lego_Detection.git

Once you have cloned it

cd $PWD/Ur5_motion_and_Lego_Detection

git submodule update --init --recursive

cd ~/ros_ws/ 

catkin_make install

Now you can continue to follow locosim https://github.com/mfocchi/locosim#configure-environment-variables , but remeber to change the locosim varivable in the .bashrc like this :

export LOCOSIM_DIR=$HOME/ros_ws/src/Ur5_motion_and_Lego_Detection/locosim

Run the project

Move inside this directory:

cd $HOME/ros_ws/src/Ur5_motion_and_Lego_Detection/locosim/robot_control/lab_exercises/lab_palopoli/

Run the ur5_generic file that will launch gazebo,rviz, and setup all the environment (pay attention to setup properly in params.py the params for run the ur5_generic.py, for example flag real_robot)

python3 ur5_generic.py

If you are in simulation:

cd $HOME/ros_ws/src/Ur5_motion_and_Lego_Detection/spawnLego_pkg/src/

python3 SpawnaLego.py

This script will ask you to input the number of the assigment that you want to perform :

• Assignment 1 : it will spawn only one Lego ,which is positioned with its base “naturally” in contact with the ground.
• Assignment 2 : it will spawn multiple objects on the initial stand, one for each class.
• Assignment 3 : it will spawn multiple objects on the initial stand, and there can be more than one object for each class, object could be lying on one of its lateral sides or on its top.

Run the script that make the robot move :

cd $HOME/ros_ws/

rosrun publisher_pkg publisher_node

Run the vision script:

cd $HOME/ros_ws/src/Ur5_motion_and_Lego_Detection/vision/

python3 vision.py

Additional Resources

You can find the video of the project at this link and the presentation at this link

Contributors

Name	Matricola	Github
Rigon Mattia	217868	https://github.com/MattiaRigon
Simone Roman	218788	https://github.com/Sro552
Bonetto Stefano	217861	https://github.com/stefanoobonetto