Tag2Arrange

Using April tags to control finger arrangement, pressure controllers and robot arm trajectories

Installation

1. Install ROS
2. Set up your AprilTag workspace
   1. Make a new catkin workspace
   2. Clone the AprilTag ROS package
   3. Clone the USB cam package
   4. Install dependencies: rosdep install --from-paths src --ignore-src -y
   5. Run catkin_make_isolated
3. Set up your pressure control workspace
   1. Make another new catkin workspace
   2. Set up my pressure controller package
   3. Clone this package into the src folder
   4. Clone my video_recorder package into the src folder (optional)
   5. Clone my rosbag_recorder package into the src folder (optional)
   6. Run catkin_make
4. Set up the robot arm control package in same workspace as the pressure controller
5. Set up your ~/.bashrc file to source both workspaces

Setup AprilTags

1. Set up AprilTag config files to specify your tag properties.
2. Make a new verison of usb_cam-test.launch to use your camera settings
3. Calibrate your camera

Setup Items

1. Set up item directory in the config/items directory. To create this directory from item geometry:
   1. Create a spreadsheet listing the item's tag id, length, width, height and object shape
   2. Import a trained classification model as a pmml file
   3. Run the create_dir.py script which will output a yaml file

Usage

1. Start running the camera (publishes data to the usb_cam/image_raw topic)
   • roslaunch usb_cam usb_cam-test.launch
2. Rectify the image using the calibration matrix (tutorial)
   • ROS_NAMESPACE=my_camera rosrun image_proc image_proc
3. Begin detecting apriltags
   • If using rectified camera image: roslaunch apriltag_ros continuous_detection.launch camera_name:=usb_cam
   • If you just want to test without calibrating: roslaunch apriltag_ros continuous_detection.launch camera_name:=usb_cam image_topic:=image_raw
4. Start the pressure controller
   • roslaunch pressure_controller_ros bringup_HID.launch profile:=anthro8 hw_profile:=hid
5. Start Dynamixel motor
   • roslaunch pressure_controller_configs bringup_dynamixel.launch profile:=dynamixel_single hw_profile:=dynamixel_default
6. Start the robot arm with the teach pendant program
   • roslaunch ur_user_calibration bringup_armando.launch
7. Start the controller
   • roslaunch tag2arrange run_controller.launch pctrl:=True arm:=True