Cluttered Picking for METRICS HEART-MET competition

Overall functionality

• The robot perceives its environment and the data is published on the topics to which we subscribe to.
• Once we get the image of the environment, object detection is carried out using Faster-RCNN and the object labels along with its bounding boxes are detected.
• Then these 2D bounding boxes are used to calculate the centroid of the object which acts as a grasping position in 2D.
• This 2D position is converted to 3D position and the yaw is also calculated, which combinedly gives us the grasing pose of the object.
• This process is looped over for the cluttered picking task.

How to run the code:

To run the code you have to run 2 terminals with the below mentioned commands:

Terminal-1

Run object detection code:
roslaunch object_detection grasp_pose_estimation.launch

Terminal-2

Publish images from rosbag files continuously using the -l argument
rosbag play -l <path_to_bag_file/_.bag>

OR

Connect to the youBot server at export ROS_MASTER_URI=http://192.168.1.114:11311 for youBot-4 and export ROS_MASTER_URI=http://192.168.1.142:11311 for youBot-2