PhantomX Robocontroller using AruCo Marker detection
Description
This ROS Package combines ros-aruco-opencv and ros-arbotix to create a controller that is capable of detecting and locating objects with aruco-markers and subsequently moving them to a desired destination. This Project is intended for the Arbotix PhantomX Reactor with connected Joints at the base (see illustration). Note this is NOT tested with the single-joint variant of the Reactor grabber.
Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
Installation
To install, please clone this repository and build it using catkin_make install
from within the folders root.
Afterwards, source the install
directory.
Preparation
Usage
roslaunch and the options
Support
For questions and support feel free to reach out to the Authors
Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
- Fix inaccurate Pose estimation
- Finalize Pick and Place sequence
Authors
Aylin Aydin - aylin.aydin@stud.hs-bochum.de
Younes Oubkis - younes.oubkis@stud.hs-bochum.de
License
MIT License
Copyright (c) [2023] [Aylin Aydin & Younes Oubkis]
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. For open source projects, say how it is licensed.