This README.md file is a overview of a gantry arm based car painting application developed in simulation using Gazebo, under the mentorship of Mr. Lentin Joseph..
Here, I shall go over the approach taken and briefly discuss how one can implement the same. Unfortunately, this work is not open-source, but I am working on a similar implementation for the same and it will roll out soon! Here are the steps:
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First, we start of by setting up cameras around the gantry, such that it covers all the parts of the car.(later used for 3D reconstruction of the car in pointcloud format.)
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We then collect images from these cameras and these images correspond to the parts of the car that is recorded in the camera frame, to be painted.
-We also collect the point cloud from each camera, and concatenate them together, to acquire entire car in a 3D pointcloud format.
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This is used for creating an octomap to perform collision avoidance while performing painting action.
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Using the segmented images and it's corresponding pointcloud, we generate waypoints for computing cartesian plan.
Checkout the demo gif below!
Happy Exploring!