georgesheslow / sensors_and_control_fetch_robot Goto Github PK

• Finish fetch class functionality (arm, twist, head and bellow movements)
• Finish teleop class (all sliders and buttons work)
• Finish camera_viz (use opencv linked into pyqt Qimage for robot vision)

Arm, Bellows, Head Commands TODO:

• Fix Slider settings
• Map robot joint limits to slider
• Create Initial feedback, slider update

Robot Movement TODO:

• Adjust teleop keyboard class to work for GUI buttons

Assignment Documentation, Code and Presentation Due dates Overview:

• Dates TBA

• Proposal (Group)
• Mid-Review Report (Individual)
• Code and Video (Group)
• Presentation (Group)
• Final Report (Individual)

Goal:
Input: RGB-D Camera Data
Output: (x,y,z) coordinate of the object via topic

• Finish GUI
• Finish TeleOp Mode
• Camera Vision - position in (x.y) of object - detection through colour
• https://github.com/fetchrobotics/fetch_pbd/blob/master/fetch_arm_control/src/fetch_arm_control/arm.py
• IKSolver research

• Create gazebo world
• Test Fetch robot in world
• Get or create objects to detect and pick up

Goal: Use Fetch to pickup and place pre-defined objects

• Object Detection and Tracking
• Arm Inverse Kinematics
• System Control and GUI
• Simulator

• Spin IKSolver and make a service
• Do transformation maths for gripper pose
• Adjust GUI to handle new changes