myCobot 280 Mobility Assistor

A robotics and computer vision project using the myCobot 280 Pi and ROS 2 Jazzy. This project aims to create an automated assistive sorting and grasping pipeline.

Features

• Custom Vision Pipeline: Uses OpenCV and ArUco markers to create a flattened, top-down digital workspace.
• Color Detection: HSV-based masking to accurately locate and generate X/Y coordinates for target objects.
• Digital Twin: Full ROS 2/Gazebo simulation for safe testing of MoveIt 2 grasping logic before physical deployment.

Tech Stack

• OS: Ubuntu 24.04
• Middleware: ROS 2 Jazzy
• Language: Python 3.12
• Libraries: OpenCV, NumPy

Installation & Setup for myCobot

Installation

1.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

1.2 Package Download and Install

Install ros package in your src folder of your Colcon workspace.

$ cd ~/colcon_ws/src
# For the humble branch
$ git clone -b humble --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
# For the foxy branch
$ git clone -b foxy --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
# For the galactic branch
$ git clone -b galactic --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git
$ cd ~/colcon_ws
$ vcs import src < src/warehouse_ros_mongo.repos
$ sudo apt-get update && rosdep install --from-paths src --ignore-src -y
$ colcon build
$ source ~/colcon_ws/install/setup.bash
$ sudo echo 'source ~/colcon_ws/install/setup.bash' >> ~/.bashrc

Troubleshooting

1. On ROS2 Humble if slider_control does not show GUI properly, update file /opt/ros/humble/lib/python3.10/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py from here: https://github.com/ros/joint_state_publisher/blob/ros2/joint_state_publisher_gui/joint_state_publisher_gui/joint_state_publisher_gui.py