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Ballbot = Ball + Robot: Robot picking up the ball

img

Dependencies

The project is tested on Ubuntu 16.04, Python 2.7, and ROS Kinetic.

opencv-python==4.1.1.26
pyrealsense2==2.32.1.1299

Calibration

It needs calibration before running.

rosrun ballbot calibration.py

It first gets the pixel position of 4 markers on the table. You should define the color of markers on detector.py. The default value is YELLOW.

Then you need to move the endpoint of robot to 4 markers. It is to get the cartesian position of 4 markers.

Demo

Run the following command:

roslaunch ballbot ballbot.launch

Video demo are available at Youtube.

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Picking up balls on the table

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