Description

This git is Ros application Git.
*Hardware Structure

• Open Manipulator
• OpneCR
• RealSense D435

*Base Software information

• reference open manipulator git to control open manipulator.
  https://github.com/ROBOTIS-GIT/open_manipulator.
• reference turtlebot3_slam_3d git to detect object and to get 3D coordination.
  https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d

Environment setting

• Step1, Set D435 environment.
  http://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros_applications/#ros-applications

  $ sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
  $ sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
  $ sudo apt-get install librealsense2-dev librealsense2-utils ros-kinetic-rgbd-launch
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/intel-ros/realsense.git
  $ cd ~/catkin_ws && catkin_make

• Step2, Set turtlebot3 environment.
  http://emanual.robotis.com/docs/en/platform/turtlebot3/pc_setup/

$ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

• Step3, Set open manipulator environment.
  http://emanual.robotis.com/docs/en/platform/openmanipulator/

S sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ cd ~/catkin_ws && catkin_make

• Step4, Set turtlebot3_slam_3d environment.
  https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d

$git clone https://github.com/hyunoklee/darknet_ros.git
you unzip darknet.zip file at darknet directory.   
$git clone https://github.com/AuTURBO/turtlebot3_slam_3d.git
$git clone https://github.com/jsk-ros-pkg/jsk_common.git
$catkin_ws && catkin_make
$sudo apt-get install ros-kinetic-jsk-recognition
$sudo apt-get install ros-kinetic-libsiftfast
$sudo apt-get install ros-kinetic-laser-assembler
$sudo apt-get install ros-kinetic-octomap-server
$sudo apt-get install ros-kinetic-nodelet
$sudo apt-get install ros-kinetic-depth-image-proc
$sudo apt-get install ros-kinetic-jsk-topic-tools
$sudo apt-get install ros-kinetic-rtabmap-ros

• Step5, Set modified open manipulator application and open_manipulator_perceptions environment.

  $ cd ~/catkin_ws/src
  $ git clone https://github.com/AuTURBO/open_manipulator_applications.git
  $ git clone https://github.com/AuTURBO/open_manipulator_perceptions.git
  $ cd ~/catkin_ws && catkin_make

• Step6, Add open manipulator realsense urdf.
  this is only used when you run picking Apple in Gazebo.

$ cp -r ~/catkin_ws/src/open_manipulator_applications/extra_urdf/* ~/catkin_ws/src/open_manipulator/open_manipulator_description/urdf/

Run

Click image to link to YouTube video.

• Run picking Person

$ roslaunch open_manipulator_controller open_manipulator_controller.launch
$ roslaunch open_manipulator_ar_markers yolo_jsk_pose.launch camera_model:=realsense_d435
$ roslaunch open_manipulator_apple open_manipulator_person.launch target_object:=person use_platform:=true

• Run picking Apple

$ roslaunch turtlebot3_slam_3d turtlebot3_slam_3d.launch use_zed:=false
$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=true
$ roslaunch open_manipulator_apple open_manipulator_apple2.launch target_object:=apple use_platform:=true

• Run Coffee(TalTal)

$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=true
$ roslaunch open_manipulator_apple open_manipulator_taltal.launch target_object:=apple use_platform:=true 

• Run picking Apple in Gazebo
  There is some bug.

$ roslaunch open_manipulator_gazebo open_manipulator_gazebo_jjapit.launch
$ roslaunch open_manipulator_controller open_manipulator_controller.launch use_platform:=false
$ roslaunch open_manipulator_apple open_manipulator_apple.launch target_object:=apple use_platform:=false