pick_and_place

This project is a vision based pick and place operation of 2D objects using aubo-i5 robot with intel realsense D435 depth camera.

1. Development Environment

• Ubuntu 16.04.2
• ROS Kinetic

2. ROS Package Dependencies

• aubo_robot
• realsense-ros
• find_object_2d

Step 1: Install the dependencies

Install the mentioned ROS packages.

Clone the aubo_robot and realsense-ros packages to your catkin/src folder.

Install the realsense wrappers as described here

Step 2: Configure your robot

Edit the ip address your aubo robot in the aubo_gripper_moveit_config/launch/moveit.launch launch file

Step 3: Save the images of the objects

save the images of the objects needs to be picked in the train folder

Step 4: Run the launch file

launch the find_2d.launch to start the picking operation.

roslaunch pick_and_place pick_2d.launch