Code for the advanced project ecte940 while pursuing a Master of Engineering.
The code implements image based visual control for Turtlebot3 waffle with OpenMANIPULATOR-X. The camera is placed on the manipulator and the current version works with using blob detection. The camera used is a intel d435i realsense camera. This must publish the RGB image to the topic "camera/color/image_raw/" and the depth image to camera/aligned_depth_to_color/image_raw/". The images need tobe recived with the same timestamp in order to be valied for the control.
To run the program: Separate computer $roscore On the robot computer $roslaunch turtlebot3_bringup turtlebot3_robot.launch Separat computer $roslaunch vision vision.launch
The library OpenCV, VISP and VISp_ROS must be installed on the separate computer.
The communication to the arm is thru MoveIT library