Assembly task

Introduction

This package is based on the object-recognition package (see the References part). It allows to detect the box on the table and its pose, thanks to OpenCV, grasp it, and then present it to the operator. The inspection part is then realized by a OpenCV Hough circle detection.

How-to...

Launch the node

Open a terminal, and execute the following command:

• For assembly task: roslaunch assembly_task assembly_task.launch
• For inspection task: roslaunch inspection_task inspection_task.launch

References

• object-recognition project from apollack11 : https://github.com/apollack11/object-recognition
• The conference paper on which the demo has been based can be found here