simulation of stack-brick system

The project was finished on 06/2019.
The project demonstrates UR5 pick-and-place in ROS and Gazebo. The UR5 uses a Kinect camera to detect the bricks (brick_det_2base_4.py). The position and orientation is published. UR5(brick_stackV4_6.py) searches for brick and picks it(vacuumpump_srv.py). After UR5 picks a brick, controller will take the UR5 motion to place to place the brick in sorted.
The final demo could be found in media file or youtube demo.

Neccesary Resources

1.universal_robot

for UR5.

2.MoveIt!

official installation tuturial

3.gazebo_ros_link_attacher

for vacuum gripper.

4.OpenCV (at least 2.7 version)

5.ikfast kinematic solver

a installation toturial ikfast

run command

open four teminals:
first ter

roslaunch pick_brick_ur5 initialize_bricks.launch

second ter

rosrun pick_brick_ur5 vacuumpump_srv.py

third ter

rosrun pick_brick_ur5 brick_det_2base_4.py

fourth ter

rosrun pick_brick_ur5 brick_stackV4_6.py