ArUcoサンプルとピッキング動作の追加 #173
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ArUcoサンプルとピッキング動作の追加 #173
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* arucoマーカの認識 * マーカ位置をm系に変換 * マーカ位置姿勢をtfに配信 * tfのsubscribe * マーカ位置が静止していることを検知 * スタイル修正 * picking動作追加 * 不要な記述を削除 * スタイル修正 * 不要な行を削除 * マーカ位置修正 * 把持姿勢の調整 * tf確認用rviz config追加 * URL更新 * マーカ認識位置のオフセットを削除 * Rviz configの切り替えを実装 * デフォルトで起動するスクリプトを修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * ArUcoの辞書についてコメント追加 * 変数名修正 * デバッグ用処理を削除 * 変数名変更 * コメント追加 * tfの時間計算を修正 * 現在時刻の取得方法変更 * 不要なモジュールの削除 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * Update README * Update README * PythonExpressionをUnlessConditionに置き換え * 複数マーカに対応 (cherry picked from commit aa3792b54ae873125a34611f93a0fecec57466c6) * 把持対象のframe id変更 * スタイル修正 * 待機姿勢を関節負荷の低いものに変更 * Update README * Update README * スタイル修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
* READMEに動画追加 * README修正
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でCIに取り入れるgz_ros2_controlのブランチを変更しているので、 /~https://github.com/rt-net/crane_x7_ros/blob/ros2/README.md # Install dependencies
$ git clone /~https://github.com/ros-controls/gz_ros2_control.git
$ rosdep install -r -y -i --from-paths . |
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その他はOKです。Humbleで動作確認済みです |
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What does this implement/fix?
#169 、 #172 と同様に、把持対象に取り付けられたArUcoマーカの位置を認識し、把持対象をピックアンドプレースするサンプルです。
Does this close any currently open issues?
ないです
How has this been tested?
#169 、 #172 と同様です。
Any other comments?
ないです
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