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Visual-Servo

​ This is a visual servo application using MoveIt and AprilTag

Install

  • Dependencies

​ The main application depends on OpenCv 3.4.5, MoveIt (Prebuilt Binaries), ros-kinetic, AprilTag, Sophus CV_bridge, aubo_robot and realsense . For simulation you should install Gazebo too.

​ see Environment.md for details install commands.

  • Packages

    Under your workspace source folder, use commands below, then use catkin_make

    git clone https://github.com/ZhouYixuanRobtic/aubo_robot_realsense.git
git clone https://github.com/ZhouYixuanRobtic/Visual-Servo.git

Usage

  • Simulation

    roslaunch visual_servo visual_servo_sim.launch

    ​ After the simulation nodes launched clearly, then use

    rosrun visual_servo visual_servo 
rosrun visual_servo maTest

  • real robot

    ​ Check the robot's IP, if it is not 192.168.2.13 then modify the visual_servo_real.launch file. Make sure all sensors are ready and the EMERGENCY STOP is as near as you can reach. Then run

    roslaunch visual_servo visual_servo_real.launch

    ​ After it's launched clearly, run

    rosrun visual_servo maTest