This is the GitHub repository of the robot KasPR, that is developed as part of the minor Robotics of the TU Delft. KasPR is a robot that can harvest cucumbers in greenhouses. To achieve this, the robot uses stereo vision in combination with a convolutional neural network tho detect the cucumbers and a UR5 robotic arm equipped with a pneumatic end effector to harvest the produce.

Part of the development of this repository is the ros_faster_rcnn repository. This code is created as a ROS wrapper for the python implementation of Faster RCNN.