Visual-Servo

This is a visual servo application using MoveIt and AprilTag

Install

The main application depends on OpenCv 3.4.5, MoveIt (Prebuilt Binaries), ros-kinetic, AprilTag, Sophus CV_bridge, aubo_robot and realsense . For simulation you should install Gazebo too.

see Environment.md for details install commands.

Packages

Under your workspace source folder, use commands below, then use catkin_make

git clone https://github.com/ZhouYixuanRobtic/aubo_robot_realsense.git
git clone https://github.com/ZhouYixuanRobtic/Visual-Servo.git

Simulation

roslaunch visual_servo visual_servo_sim.launch

After the simulation nodes launched clearly, then use

rosrun visual_servo visual_servo 
rosrun visual_servo maTest

real robot

Check the robot's IP, if it is not 192.168.2.13 then modify the visual_servo_real.launch file. Make sure all sensors are ready and the EMERGENCY STOP is as near as you can reach. Then run
```
roslaunch visual_servo visual_servo_real.launch 
```
After it's launched clearly, run
```
rosrun visual_servo maTest
```

Name		Name	Last commit message	Last commit date
Latest commit History 95 Commits
.idea		.idea
config		config
include		include
launch		launch
msg		msg
src		src
srv		srv
test		test
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
Change Log.md		Change Log.md
Environment.md		Environment.md
README.md		README.md
ToDo List.md		ToDo List.md
environment.sh		environment.sh
package.xml		package.xml