abboyangcd/image

INSTALL

Main Scripts

• mask_rcnn.py MaskRCNN takes in an image, outputs masks, boxes, labels and segmented image.
• ur5_commander.py After receiving the PoseStamped message, the robotic arm moves to the specified position and performs the grasping task
• utils.py Contains methods and functions that are needed for other scripts.

Full instalation procedure

1. Install ROS Noetic:

If you have not installed ROS Noetic, please follow the URL below to do so。

http://wiki.ros.org/noetic/Installation/Ubuntu

We recommend that you install Desktop-Full. before installing, make sure that all your software is up to date!

sudo apt update
sudo apt upgrade

Input the above command in this terminal:

When you input these commands and complete the update, you'll see this:

This proves that you have completed the full update

2. Setup the workspace:

mkdir -p ur5_ws/src && cd ur5_ws

You'll see this screen:

This proves that you've finished creating the workspace and are now in the workspace, so install the dependencies!。

3. Setup dependencies:

sudo apt -y install ros-noetic-moveit \
  ros-noetic-realsense2-camera \
  ros-noetic-realsense2-description \
  ros-noetic-ros-controllers

Tips: If any dependencies are missing at runtime, look up their full names and install them in the following format

sudo apt -y install ros-noetic-<package_name>

An example:

Since I've already done all the updates, the number 0 appears on the screen.

Continue to complete the next operation, complete the "git clone" will appear in the following screen:

The "git clone" in the above image is just an example, please do not input this command in the terminal again!

4. Source global ros

source /opt/ros/noetic/setup.bash

5. Install the robotic arm driver:

# clone the driver
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver

6. Insatll moveit calibration

# clone fork of the description. This is currently necessary, until the changes are merged upstream.
git clone -b melodic-devel-staging https://github.com/ros-industrial/universal_robot.git src/universal_robot

7. Install gripper driver

# get the robotiq
git clone https://github.com/jr-robotics/robotiq.git src/robotiq

8. Install depth camera driver

# get the camera
git clone https://github.com/IntelRealSense/realsense-ros.git src/realsense-ros

9. Install dependencies

sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y --rosdistro noetic

10. Compile workspace

# build the workspace
catkin_make
# activate the workspace (ie: source it)
echo "source devel/setup.bash" >> ~/.bashrc

After you finish "catkin_make", you will see the following screen:

If you are running "catkin_make" for the first time, you will have to wait for a very long time, but eventually it will say "100%".

11. Install RealSense SDK 2.0

#  Do not put this package into the workspace
git clone https://github.com/IntelRealSense/librealsense.git
# Follow this webpage for detailed installation:
https://dev.intelrealsense.com/docs/compiling-librealsense-for-linux-ubuntu-guide

12. Testing your own ROS You can run commands to test your own ROS:

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

Please note, be sure to run all three commands in all three terminals!

In the third screen you can control the direction of the little turtle.

In the picture above, I control the turtle to go forward first, and then control it to go left.

At this point, you have completed all the installation!