Panda-Grasp-Known-Object

This repo uses the panda arm to grasp a known object (labeled with Aruco marker).

Hardware

• Panda arm from Franka Emika
• RGB camera (e.g. Realsense D435)

Requirments

• Ubuntu 18.04
• franka_ros in catkin_ws (built from source)
• libfranka (built from source)
• panda_moveit_config
• aruco_ros
• rviz_visual_tools

Installation

Download the "franka_gripper_client.cpp" in the folder catkin_ws/src/franka_ros/franka_gripper/src/

cd $path-to-catkin_ws/src/franka_ros/franka_gripper/src/
wget https://raw.githubusercontent.com/lily983/Panda-Grasp-Known-Object/main/franka_gripper_client.cpp

Stay the directory in the terminal from the last step.

Delete the "CMakeLists.txt" and "package.xml" file in the folder catkin_ws/src/franka_ros/franka_gripper/

After that, install the two files from Github.

cd ..
rm CMakeLists.txt
rm package.xml
wget https://raw.githubusercontent.com/lily983/Panda-Grasp-Known-Object/main/CMakeLists.txt
wget https://raw.githubusercontent.com/lily983/Panda-Grasp-Known-Object/main/package.xml

Now, we need to catkin_build the catkin_ws.

catkin_build

Before Usage

Before using this repo, we need to do the following things:

• Install camera on a static place
• Handeye calibration (recommond repo: IFL_CAMP/easy_handeye url:https://github.com/IFL-CAMP/easy_handeye)
• Print out Aruco marker (https://chev.me/arucogen/) (chooes Dictionary: Original ArUco) (Remeber to check the printed marker size! Incorrect size will cause a huge error on calibration)
• Modify Aruco detection file in pkg aruco_ros

Commands

• In the first terminal, launching the arm.launch file:

roslaunch panda_moveit_config panda_control_moveit_rviz.launch robot_ip:=172.16.0.2

• In the second terminal, boardcasting the transformation between panda_link0 to camera:

rosrun tf static_transform_publisher x y z qx qy qz qw panda_link0 camera_color_frame

• In the third terminal, launching the camera:

roslaunch realsense2_camera rs_camera.launch

• In the fourth terminal, launching marker detect file:

roslaunch aurco_ros single.launch 

After all these setup, the robot arm is ready to grasp object.

• In the last terminal, running the file:

rosrun franka_gripper franka_gripper_client