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2D camera with moveit

asked 2020-10-25 02:39:50 -0500

Atreya_Bhat gravatar image

I am doing my course project which uses a 2D camera + aToF sensor mounted on the gripper of the robot (to mimic the action of a 3D camera to an extent)to track moving objects in 2D in real time. I have gone through moveit tutorials on 3D perception but as I am implementing in 2D, is there any way to command moveit to plan motion with just 2D image data.

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answered 2020-10-25 05:21:53 -0500

fvd gravatar image

You need to determine a 3D position from your 2D image to send a meaningful command. This is an active field of research. The most common simplification is to attach a 2D marker of some sort and reconstruct its 3D pose with a package like aruco_ros. There is a tutorial.

You can also google with keywords like "visual servoing" and send relative movement commands to your robot, but the libraries probably won't be as plug-and-play.

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Asked: 2020-10-25 02:39:50 -0500

Seen: 340 times

Last updated: Oct 25 '20