ROS Archives - Page 4 of 4 - Robotics with ROS

Calibrating a Monocular Camera with ROS

6 Comments / Computer Vision, Image Processing, ROS, Tutorials / admin

ROS use OpenCV for camera calibration but the format that it stores the data is different than OpenCV. Also, you need to know where to place the camera calibration files so ROS can find it and publish it. 1.First, you need to install usb cam package from ROS and uvcdynctrl to disable autofocus:

sudo apt-get install ros-kinetic-usb-cam uvcdynctrl

1	sudo apt-get install ros-kinetic-usb-cam uvcdynctrl

2.Open a terminal and run roscore: […]

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Dual arm manipulator operating a handwheel

Leave a Comment / Manipulation, ROS / admin

Operating a handwheel with two schunk LWA 4D manipulators. Corresponding paper in IROS 2015.

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Installing Kinect on Ubuntu 14.04 and make it run in ROS Indigo

1 Comment / Computer Vision, ROS, Tutorials / admin

Kinect support on Linux has a complicated history, there used to be various packages on Fuerte, Groovy and Hydro which they don’t work on ubuntu 14.10 and indigo. I’ve tried them all to find a working solution, so follow these step carefully and you will be able to read data from Kinect in ubuntu 14.10

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Motion planning under Cartesian constraints

2 Comments / Manipulation, ROS / admin

In this task, an orientation constraint has been imposed to the planner such that the orientation of end effector is fixed during the task. The planner checks the self-collision and collision between robot and the environment. Corresponding paper in IROS 2015.

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Manipulability Map

Leave a Comment / C++, Manipulation, ROS / admin

It often happens that you are interested to know in which area you robot has high manipulability and in which area it has low manipulability. There are several approaches for that. In this work, I implemented the Yoshikawa manipulability index. I discretized the joint space for each joint, then I compute the manipulability index and dump all

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Learning From Demonstration

Leave a Comment / C++, Computer Vision, Machine Learning, Manipulation, ROS, Tutorials / admin

In this work at first, I recognize the object in the scene and estimate the 6 DOF pose of that. Then I track the object by using particle filter. RGB data acquired from Kinect 2 and turned into PCL pointcloud. I demonstrate a task several times to the robot. In this case, I move an object (a detergent) over

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Extracting images from ros bag file

1 Comment / ROS, Tutorials / admin

Imagine you have had dumped some ros bag files in which some topics were publishing images and now you want to extract those images and save them. You can play your ros bag and then implement a node that listens to that topic and you save the data. In ros, There is a neat solution

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Converting a PCL pointcloud to a ROS pcl message/ ROS pcl message to PCL point cloud

Leave a Comment / C++, Computer Vision, ROS, Tutorials / admin

The relation between ROS and PCL point cloud is a little bit complicated, at first, it was part of ROS, then it became a separate project and whole the time you need some serializer and deserializer to send and receive point cloud ROS messages. There are some old deprecated ways to do that and they

Converting a PCL pointcloud to a ROS pcl message/ ROS pcl message to PCL point cloud Read More »

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