UR5 Controller ROS2 Humble Mediapie

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This repository contains a ROS (Robot Operating System) node written in Python that integrates MediaPipe for perception tasks and controls relays based on detected hand gestures. The node subscribes to a specific ROS topic, processes hand tracking data using MediaPipe, and sends HTTP POST requests to a specified API endpoint to control relay states accordingly.

Table of Contents

• Prerequisites
• Package Description
• Installation
• Usage
• Contributing
• License

Prerequisites

• ROS1 (tested with [ROS1 distribution])
• Python 3.6+
• MediaPipe
• rospy, requests, loguru Python packages

Package Description

Overview

The node subscribes to the perception/hand_petak topic to receive Int32 messages indicating which relay to control. It uses MediaPipe for hand tracking and gesture recognition, and controls relay states by sending HTTP POST requests to a configurable API endpoint.

Features

• ROS Integration: Subscribes to perception/hand_petak topic.
• MediaPipe Integration: Uses MediaPipe for hand tracking and gesture recognition.
• Relay Control: Sends HTTP POST requests to control relay states.
• Logging: Utilizes the loguru library for logging.
• Configurable API Endpoint: API endpoint for relay control is configurable via command-line argument.

Installation

Follow these steps to install and set up the package:

1. Clone the repository:

   git clone [email protected]:agus-darmawan/ros-ur5-controller-mediapipe.git
   cd ros-ur5-controller-mediapipe

2. Build the package:

   catkin_make

3. Source the setup script:

   source devel/setup.bash

Usage

To run the system, follow these steps:

1. Run the Perception node:

   rosrun ur_perception hand_tracker_node.py 'source'

   note : source can be path of video file of source of the camera

2. Run the Controller node:

   rosrun ur_controller ur_controller_node.py 'API'

   note : API url post comand of esp inside the UR