jo-valer / robotics

A mobile robot equipped with a 6-DoF manipulator to pick up different bricks in a partially known environment: kinematics, trajectory planning & control, object localization & classification.

Robotics project - A mobile robot to pick up LEGO bricks.

This is the Fundamentals of Robotics' project by Pietro Fronza, Stefano Genetti, and Giovanni Valer.

ℹ We have written the code mainly in C++ (for the part regarding kinematics and trajectory planning) and Python (for object classification and localization). For any info about the implementation solutions, read the paper: Robotics_Project.pdf.

🎥 Videos

It might be useful to have a look at some simulations we have done. You can find them on YouTube at the following links:

• ▶️ Assignment 1
• ▶️ Assignment 2
• ▶️ Assignment 3

📁 Repository content

Here you can find three different catkin workspaces, each one for a different assignment. All goals have been achieved.

⚠️ If you want to download the code and run it, make sure you comply with the requirements. Furthermore, you need to give execution permissions to 3 python scripts, namely: src/my_world/world/lego_spawner.py, src/robotic_vision/src/localize_listener.py, and src/robotic_vision/src/yolov5/my_detect.py. If you are not on a native linux machine you may need to directly create those files (then copying into them the content from this repo).

Assignment_1

The whole environment has to be launched with:

roslaunch my_world startcomplete.launch

After having un-paused the simulation, you can run the controller:

rosrun mir_controller mir_controller

You will find the recognized bricks directly printed on the shell, and also in OUTPUT.txt. Here is an example with 4 bricks:

LEGO   class: 7,   name: X1_Y4_Z1,         x: 0.121254,   y: -2.0017
LEGO   class: 5,   name: X1_Y3_Z2,         x: -0.120827,  y: -2.00102
LEGO   class: 6,   name: X1_Y3_Z2_FILLET,  x: 1.86269,    y: 1.9847
LEGO   class: 1,   name: X1_Y2_Z1,         x: 2.12052,    y: 1.9992

Assignment_2

Basically, everything works as in the previous assignment, except for the robot, that now carries the bricks to their basket. The commands and the output are the same.

Assignment_3

For the last assignment we decided to have a much more complicated environment, so now the world is stored as a map in a file: src/my_world/src/map.txt.

To run this simulation, everything works as previously seen, but now the output has to be slightly different, since there can be up to 3 different bricks in the same target area:

AREA: 3 - LEGO  class: 7,   name: X1_Y4_Z1,         x: 0.121254,   y: -2.0017
AREA: 3 - LEGO  class: 5,   name: X1_Y3_Z2,         x: -0.120827,  y: -2.00102

AREA: 1 - LEGO  class: 1,   name: X1_Y2_Z1,         x: 2.12052,    y: 1.9992
AREA: 1 - LEGO  class: 6,   name: X1_Y3_Z2_FILLET,  x: 1.86269,    y: 1.9847

AREA: 2 - LEGO  class: 8,   name: X1_Y4_Z2,         x: 3.10256,    y: 4.01493
AREA: 2 - LEGO  class: 8,   name: X1_Y4_Z2,         x: 2.91906,    y: 4.11383
AREA: 2 - LEGO  class: 8,   name: X1_Y4_Z2,         x: 2.92037,    y: 3.90152

AREA: 4 - LEGO  class: 6,   name: X1_Y3_Z2_FILLET,  x: -2.07731,   y: 1.06888
AREA: 4 - LEGO  class: 0,   name: X1_Y1_Z2,         x: -2.0487,    y: 0.887195
AREA: 4 - LEGO  class: 1,   name: X1_Y2_Z1,         x: -1.87581,   y: 1.04202

So that we can know how the robot explored the environment. In this example, it firstly visited area 3, then area 1 and 2, and at the end area 4.

Requirements

• Python 3
• ROS Noetic
• Ubuntu 20.04
• After having cloned the repository:

cd src/robotic_vision/src/yolov5/

pip install -qr requirements.txt