EMR22

Repository for Embedded Robotics 2022 by Jonas Klinker (@KlinkerJ) and Lennart Fuhrig (@lennart2810).

Installation

1. Clone the repository to the catkin_ws
2. Install the required dependencies python3 -m pip install -r requirements.txt
3. Build the package catkin build emr22_project

Usage

Find the correct webcam

You may have to use a different webcam-id for your webcam / robot-mounted cam. In our scripts, we are using the camera id 0. If that is not the right id, you can change it in nodes/yolo_img_pub.py and nodes/yolo_move_robot.py. You can also use our script to detect attached and usable cameras (scripts/detect_cam.py).

Run only yolov5 and view the results in Rqt

1. Start our script roslaunch emr22_project yolo_view.launch
2. Navigate to Image_View in Rqt.

Run yolov5 and move the robot

1. Launch MoveIt and Simulation or use your own command for the real robot roslaunch ur5_moveit_config demo_gazebo.launch
2. Start our script roslaunch emr22_project yolo_move_robot.launch

Warning: You should try our control system in simulation first and adapt Kp in nodes/yolo_move_robot.py!

Hint: You can not view the detected objects in Rqt if you called the move-Script!

Hint: Our script reacts only to the object class bottle! You can change this as you want to one of the Yolov5-Object-Classes in nodes/yolo_img_pub.py and nodes/yolo_move_robot.py! The scripts can only recognize one object!