Sawyer Vision Grasp

See 106B_Final_Project_Report.pdf to more information about this project.

Commands you can run:

• Enable Sawyer:

  rosrun intera_interface enable_robot.py -e
  

• Tuck the arm:

  roslaunch intera_examples sawyer_tuck.launch
  

• Publish Logitech webcam:

  roslaunch grasper sawyer_webcam.launch
  

• Publish Realsense webcam:

  roslaunch realsense2_camera rs_camera.launch mode:=Manual color_width:=1280 \
  color_height:=720 depth_width:=1280 depth_height:=720 align_depth:=true \
  depth_fps:=30 color_fps:=30
  

• Add realsense TF to Rviz

  <!-- rosrun tf static_transform_publisher 0.05 0.035 0.05 0 -0.70710678 0 0.70710678 /right_hand /camera_link 1000 -->
  rosrun tf static_transform_publisher 0.062 0.022 0.045 0 -0.7154594 0.0313995 0.6979484 /right_hand /camera_link 1000
  
  rosrun tf static_transform_publisher 0.064 0.0245 0.043 0 -0.7155149 0.0250545 0.6981481  /right_hand /camera_link 1000
  

• Start MoveIt: (run both in different terminals)

  rosrun intera_interface joint_trajectory_action_server.py
  roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true
  

• Run grasper

  rosrun grasper run_grasp.py
  

• Put point on robot

  rosrun tf static_transform_publisher -0.008 -0.0445 0.069 0 0 0 1 /right_gripper_base /asdf 1000