tmarm_grab

ROS base TM Arm grabbing useing AruCo

Environment

1. Ubuntu 20.04
2. RealSense D415(EIH)
3. TM Robot arm

tmr_ros1

git clone https://github.com/TechmanRobotInc/tmr_ros1.git

robotiq_2finger

git clone https://github.com/linjohnss/robotiq_2finger.git

tmarm_grab

git clone https://github.com/linjohnss/tmarm_grab.git

ROS Services

You can use ros services to communicate with robot

uint16 id
bool isput

---

bool end

Detection Image

This node subscribe ros compressed image topic

/output/image_raw/compressed

Strat Server

rosrun tmarm_grab arm_grab.py

Start Client

rosrun tmarm_grab client_test.py True

Demo

Demo for grabbing bottle (Target and Destination must stick AruCo)

default.mov