sorting crops/boxes based on Aruco Markers. Warehouse or Factory Use.
First of all open a terminal and create an empty workspace:
mkdir ~/tiago_public_ws
cd ~/tiago_public_ws
You can clone the repository above and skip the next step or downloading the tiago_public.rosinstall.
or
Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:
Set up rosdep
sudo rosdep init
rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit_node sensor_to_cloud hokuyo_node libdw-dev python-graphitesend-pip python-statsd pal_filters pal_vo_server pal_usb_utils pal_pcl pal_pcl_points_throttle_and_filter pal_karto pal_local_joint_control camera_calibration_files pal_startup_msgs pal-orbbec-openni2 dummy_actuators_manager pal_local_planner gravity_compensation_controller current_limit_controller dynamic_footprint dynamixel_cpp tf_lookup"
Then, you may proceed building the workspace:
source /opt/ros/kinetic/setup.bash
catkin build -DCATKIN_ENABLE_TESTING=0
Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.
First of all open a console and source the workspace:
source ./devel/setup.bash
To launch the simulation of the TIAGo, execute:
roslaunch tracking_aruco tracking_aruco.launch
Gazebo world and Rviz simulation will show on your screen. To start the sorting navigation, run the navigate_with_aruco.py ros node with the desired crop to sort:
rosrun tracking_aruco navigate_with_aruco.py _cropt_to_sort:=Tomato
or
rosrun tracking_aruco navigate_with_aruco.py _cropt_to_sort:=Green\ Pepper
or
rosrun tracking_aruco navigate_with_aruco.py _cropt_to_sort:=Lemon