Robotics with ROS

Installing programs into arbitrary location in Unix/ Linux systems

After you compiled and built your code, you should install it by calling sudo install to put headers and shared libraries into /usr/include/ and /usr/lib/ and configuration files into /usr/local and /usr/share usually, I don’t like to touch my system binaries and I prefer to install my compiled code into my home directory so I can safely delete them anytime. If you using […]

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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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PCL pointcloud pairwise registration

1 Comment / Computer Vision, Tutorials / admin

registration is aligning 3D point cloud on each other such that it gives you a complete model. To achieve this, you need to find the relative positions and orientations of each point cloud, such that you maximize the overlapping intersecting areas between them [1]. So I got the idea from here and I implemented a software

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How to compute Inertia Tensor and centre of gravity

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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The moon is sphere! structure from motion confirms that :)

Leave a Comment / Computer Vision, Image Processing / admin

So the other day I saw this beautiful 360-degree video of the moon and I decided to see what would I get if I apply SFM (structure from motion) algorithm to the images in the video. So I extracted the image frame by frame from the video and feed the to SFM algorithm and the

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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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