Author: Y.Y Yao, Kunyang Liang

Catkin_ws file structure of this workspace:

|--catkin_ws

|----src

|------doosan-robot

|------onrobot

|------manipulator_description

|------m0609_moveit_config

|------realsense

|----------realsense_ros

|----------realsense_ros_gazebo

|------my_scene

|----------aruco_ros

|----------arm_control

The aim of this VIBOT MSFT course project is to implement or simulate an eye-in-hand image-based visual servo control in Gazebo using a Doosan M0609 robotic arm manipulator with a camera mounted on its end effector. The visual features will be provided from 4-points in an Aruco tag.

According to the system environment, install realsense SDK and realsense_ros.

sudo cp tag_36.zip /usr/share/gazebo-11/models

In this part, we create the robot description using XACRO files and then loaded in a Gazebo simulation. The robot description is composed of a robot arm Doosan m0609, a robot gripper OnRobot RG2 and a color camera.

we use the third-party software MoveIt to define robot arm motion trajectories.

roslaunch m0609_moveit_config dsr_moveit_gazebo.launch