Vision based control for Kinova Gen3 Lite

The Gen3 Lite is a compact 6-DOF collaborative robot arm, and its big sibling the Gen3 is a 7-DOF arm. Both use Kinova's Kortex software platform . They can attach a Robotiq 2F gripper and an optional Kinova Vision camera for 3D sensing. This guide covers installing required packages, running the Gen3 Lite in simulation and on real hardware, controlling the 2F gripper, and streaming camera data for image processing on ROS 2 Humble (Ubuntu 22.04).

Pre-requisites

• Ubuntu 22.04 Jammy : Dual-Boot Guide
• ROS2 Humble : Simplified Installation Guide
• gh cli : Run sudo apt install gh git && gh auth login and Follow the steps in official doc .

Setup

Method 1 : Using Setup script

1. Clone the repo

gh repo clone mohammedrashithkp/UG-ME-FYP 

2. Run the script

# Faster Setup : Using Prebuilt Binaries and repos
bash UG-ME-FYP/scripts/UsePrebuiltBinary.sh

# Building From source
bash UG-ME-FYP/scripts/BuildFromSource.sh

Method 2 : Refer Official Docs

1. Ros2 Humble Kortex Docs
2. Ros2 Humble Kortex Vision Docs

Usage Guide

1. Simulation Usage Guide
2. Real Usage Guide

Resources

1. Best Practices
2. Image Processing Example
3. Image Processing Ros2 Package

Contributors

• Mohammed Rashith KP
• Niraamay M Dileep
• Arnav Mishra
• Adharsh Chandran

Credits

• Official Kinova ROS2 Kortex Repo
• Dualboot YT-Tutorial : Kskroyal