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