A KUKA youBot roboter platform, which is performing simple clean up tasks with one manipulator.
| Folder | Description |
|---|---|
| 0-Documentation | Folder containing some docs about the environment setup, using this software etc. |
| cleaner_alpha | Main application, where everything is put together. |
| laser_to_cloud | Not used anymore. Now the laser_assembler is used for this logic. |
| object_finder_2d | Node for calculating the nearest point from the youBot front. |
| object_recognition | Node using find_object_2d-ROS package for object detection and position assignment. After that position information is transformed and manipulated to fit our needs using TF. |
Install these packages as binaries:
- cmake_modules
- sick_tim
- laser_pipeline
- openni2_launch
- openni2_camera
- find_object_2d and all its dependencies
These packages must be installed from source:
- [torque_control] and all its dependencies. Please follow the installation description in the README-File of the author.
A more detailled setup guide is available here.
You can download this application by running
cd ~/catkin_ws/src
git clone https://github.com/youBot-DHBW-Karlsruhe/dhbw_cleaner.git
After that, you can simply use catkin to build the package
cd ~/catkin_ws
catkin_make
coming soon...