2018-STEAM-Hackathon-with-Open-Manipulation-9-Team

9Team Multi Purpose Master/Slave Robot
2018 STEAM Hackathon with Open Manipulation 9 Team

Training Documents

http://bitly.kr/bfj8

Presentation document

http://bitly.kr/hSRP

Description

We are 9 Team .
We use Open Manipulator, ASTRA Camera , Ar Track Marker , Move it and OpenCR packages.
Our Demo is below flow.
0 step. Open Manipulator pick up object.
1 step. Camera recognizes AR marker.
2 step. I move AR Marker.
3 step. Open Manipulator moves along the AR Marker movement.

Click image to link to YouTube video.

Dynamixel Setting

We use OpenCR Board and Arduino.
you can scan Dynamixel Motor by using Examples/OpenCR/08. DynamixelWorkbench/t_Find_Dynamixel/.
Soure Code is below link .
https://github.com/ROBOTIS-GIT/OpenCR/blob/beta-test/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/08.%20DynamixelWorkbench/t_Find_Dynamixel/t_Find_Dynamixel.ino

you can change Dynamixel Motor ID and baudrate by using Examples/OpenCR/08. DynamixelWorkbench/s_monitor .
Soure Code is below link .
https://github.com/ROBOTIS-GIT/OpenCR/tree/beta-test/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/08.%20DynamixelWorkbench/s_Monitor

OpenCR Setting

We use OpenCR Board and Arduino.
you install Examples/OpenCR/10.Etc/usb_to_dxl at OpenCR to using ROS .
Soure Code is below link .
https://github.com/ROBOTIS-GIT/OpenCR/tree/beta-test/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/10.%20Etc/usb_to_dxl

ROS PC Setting

$ cd ~/catkin_ws/src
$ git clone https://github.com/orbbec/ros_astra_camera.git
$ git clone https://github.com/yhna/ros_astra_launch.git
$ git clone https://github.com/yhna/open_manipulator_ar_tracker.git
$ sudo apt-get install ros-kinetic-rgbd-launch ros-kinetic-libuvc-camera
$ sudo apt-get install ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs  

$ git clone -b beta-test https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone -b beta-test https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ git clone -b beta-test https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone -b master https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b beta-test https://github.com/ROBOTIS-GIT/dynamixel-workbench
$ git clone -b beta-test https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs
$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-moveit* ros-kinetic-industrial-core 
$ sudo apt-get install ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs 

$ git clone https://github.com/hyunoklee/2018-STEAM-Hackathon-with-Open-Manipulation-9-Team.git
$ cp -r ~/catkin_ws/src/2018-STEAM-Hackathon-with-Open-Manipulation-9-Team/src/open_manipulator_example.cpp ~/catkin_ws/src/open_manipulator/open_manipulator_example/src  
$ cp -r ~/catkin_ws/src/2018-STEAM-Hackathon-with-Open-Manipulation-9-Team/src/open_manipulator_example.h ~/catkin_ws/src/open_manipulator/open_manipulator_example/include  

$ cd ~/catkin_ws && catkin_make  
$ roscd astra_camera && ./scripts/create_udev_rules  

Permission Setting about usb of Camera and usb OpenCR.

Change OpenCR usb_port in the below file
~/cw/src/open_manipulator/open_manipulator_controller/open_manipulator_controller.launch
Change permission about Camera

$ sudo chmod 777 /dev/bus/usb/001/*  

Camera Calibration

$ rosdep install camera_calibration
$ rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.030 image:=/camera/rgb/image_raw camera:=/camera/rgb

Run

$ roscore
$ roslaunch astra_launch astrapro.launch
$ roslaunch open_manipulator_ar_tracker open_manipulator_ar_tracker.launch
$ roslaunch open_manipulator_controller open_manipulator_controller.launch 
$ rosrun open_manipulator_example  open_manipulator_example