sichitong / mscv-ue4-robotics_project

This is the Robotic Project for the Semester 3 of MSCV @UB Bastien Caspani

Master in Computer Vision - UE4 - Robotics Project

Group2 :

<KATRINI  Chrysanthi

<CHARALAMPAKI Eirini

<CASPANI Bastien

The project scenario

The scenario of our project is that Tbot the turtlebot is arriving on a foreign environement and need to move automosly and identify tools. So in practice the robot will you slam and detect 3D geometric forms as sphere a cube ...

Installation and requiered packages

Please copy the content of the folder packages into your workspace. Please copy the content of the folder worlds (file from gazebo) to opt/ros/indigo/share/turtlebot_gazebo/world/ Please copy the content of the folder rviz (config file forRVIZ) to opt/ros/indigo/share/turtlebot_rviz_launcher/rviz/

Build the project

Our project is design to use catkin compiler. So when you are on the root of your catkin workspace (catkin_ws) run catkin_make then rospack profiles

Run Launch files

The main launch file is bce_7.launch To start it use the commande roslaunch my_pcl_tutorial bce_7.launch To Run the simulated detection use the commande ** rosrun sim_detect sim_detect_node**

Link of videos from the project

On Gazebo: https://www.youtube.com/watch?v=Wah2mYxG0Ig&t=267s
On the Turtlebot: https://www.youtube.com/watch?v=WO2-XAnb5Ks https://www.youtube.com/watch?v=YnviLrt-0LM

References used

1. http://learn.turtlebot.com/. [Online] http://learn.turtlebot.com/.
2. http://wg-perception.github.io. [Online] http://wg-perception.github.io/tabletop/.
3. http://wiki.ros.org. [Online] http://wiki.ros.org/tabletop_object_detector.
4. http://wg-perception.github.io/object_recognition_core/index.html
5. http://www.pointclouds.org/
6. http://pcl.ros.org
7. https://github.com/ros-perception/perception_pcl
8. http://wiki.ros.org/ROS/Tutorials

Ms CV- 2016 - University of Burgundy