mobmonrob / pd_edgedetection

Edge detection to find position and orientation to grip cartons.

Installation of pmd sdk

download

full SW package (https://pmdtec.com/picofamily/software/) Password Sh!2CBpf

Further details and source found here: (https://github.com/code-iai/pico_flexx_driver)

extract

libroyale-3.16.0.51-LINUX-arm-64Bit

Extract the archive that matches your kernel architecture from the extracted SDK to <catkin_ws>/src/pico_flexx_driver/royale.

You can find out what your kernel architecture is by running uname -m

install udev rules provided by SDK

sudo cp libroyale-3.16.0.51-LINUX-arm-64Bit/driver/udev/10-royale-ubuntu.rules /etc/udev/rules.d/

Published Topics

/object_recognition/orientation (http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Vector3.html) /object_recognition/position_midpoint (http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/PointStamped.html)

Installation of pd_edgedetection

download src

cd ~/workspace/src

git clone https://github.com/MobMonRob/pd_edgedetection edge_detection_pmd

build

catkin build

Test

cd ~/workspace

eventually delete the devel and the build folder in the workspace before

Terminal 1:

roslaunch edge_detection_pmd Learner.launch

Terminal 2:

rosrun edge_detection_pmd detection_client.py

Terminal 3:

rosrun edge_detection_Pmd detection_server.py