Robotics

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This project created for aruco cubes sorting task by CRS robot.

• Task: We have some cubes with aruco marks on the ground and we want to sort them by its ids into boxes which has also aruco marks.
• Robot: CRS97
• Camera: Chameleon manufactured by PointGrey.
• Requirements:
  • Python 2.7
  • cv2
  • numpy
  • matplotlib
  • Pyrocon (already here)

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Example of usage:

python main.py + mode

modes:

• sort_a in this mode will run the robot for sorting cubes that are not touching.
• sort_b in this mode will run the robot for sorting cubes that can touch.
• start prepare robot to use it.
• init set robot in init configuration.
• reset reset its motors.
• end prepare robot before it would be switched off.
• show show image from camera, requires other argeuments: "1" to detect aruco amrkers or "0" to not, path where the imag will be saved d default path images/output_image.jpg, None to not save or you can write yourth one.