Github repo for Group 7 of KAIST CS470 course (Introduction to AI) working on an application of the Open manipulator project sorting numbered objects into different boxes according to the number written on them.

You can have an idea of what was the aim of our project in the project poster.

Installation

(Ubuntu 20.04 required, very likely not to work with a virtual machine)

ROS and open-manipulator packages

Follow the steps detailed in ROBOTIS' official tutorial Don't forget to install Dynamixel :)

Python packages

pip install cv2
pip install pillow
pip install skimage
pip install torch

In case you still get an error from a missing library, just install it

Realsense camera

• Follow this tutorial

Quickstart

Before starting, be sure that :

• The robot is connected to your computer by USB
• Check that the robot is powered
• Make sure the robot is in a valid position before starting. An example for a pose (without the blue box, with gripper on the ground) you can find here

open two terminals.

Launch Roscore

First terminal :

roscore

3. Set the USB Latency Timer Setting

(only if it is the firs time running the project since you restarted your laptop) Second terminal:

source ~/catkin_ws/devel/setup.bash
rosrun open_manipulator_controller create_udev_rules

4. Launch controller with moveit enabled

Second terminal:

roslaunch open_manipulator_controllers joint_trajectory_controller.launch dynamixel_usb_port:=/dev/ttyUSB0 sim:=false

For more ROS launch info see this guide

Execute the main code

Open the file oma_main.ipynb (located in src) with your favorite Python Notebook editor (VS code, Jupyter..). Beware, ROS is not installed by default on Google Collab. Then you can execute the cells step by step. Enjoy :)

If you face some issue during the process, do not hesitate to contact us at alexandre.laborie0@orange.fr