Physical interaction classification

 


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Real-time UR10e following a tracked object

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For a first trial, it was developed this demonstration of a real-time followed object that is being tracked using one RGB-D camera (Intel RealSense D435).   As seen in this previous post , ViSP is used to process the images acquired by the RealSense RGB-D camera and to continuously track the object . A TCP/IP Socket Connection is established (inside the same computer) between ViSP and ROS . This socket communication is responsible for bringing the geometric transformation between the camera and the object to the ROS environment. This previous post describes with more detailed information this connection. Besides the transformation between the camera and the object, it is also required to know the transformation between the robot and the camera . For the robot to understand the position and orientation of the object in reference to the robot himself, this transformation becomes crucial. For getting it, I performed a manual calibration , as described in this previous post . Finally,
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RGB-D tracking + UR10e following & picking/placing

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Following the first use case described in this last post , the result of the experiment can be seen in this video: There are still several improvements to be made to this job1 task: The job should wait for the response of each controller before sending the next request The robot xacro should be extended to include every object that compose the real scenario  The procedure should have an interactive way of telling the robot that is time to pick up the object The use case should ensure that the object pick was successful (or not) This issues can be followed here .
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RGB-D tracking (ViSP/ROS) - 2nd demo

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  Using the infrastructure described in my last post , where ViSP communicates with ROS via a TCP/IP socket connection, this is the result of the RGB-D tracking:     I believe that this result is good enough for now. On the ROS side, we simply have the robot state publisher (responsible for the camera links) and the client node (responsible for the woodblock link). These two agents are continuously publishing the transformations.     One issue that we can already notice is that, in ROS, now we have neither the RGB image topic nor the depth map topic, which restricts us to create the pointcloud where we could clearly see the woodblock. A possible way around this issue is to send the images through the socket communication channel as well. For now, let's consider this step halfway concluded. Now it's time to control the robot!  The challenge for the next few days is to remotely control the UR10e collaborative robot.  
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