vise.md

+Visual Servoing
+---------------
+This project aims for the mobile manipulation task. 
+It utilizes the UR5 robot mounted on the manually movable platform.
+The goal is to allow the manipulator be able to do a manipulation tasks while the robot itself is moved by a human.
+
+Illustration use-case
+---------------------
+The platform with the manipulator is driven along the long table and the manipulator picks all the objects and places them in the bin on the platform.
+
+Actual implementation
+---------------------
+Actual implementation is just a proof-of-concept prototype with lot of assumptions and simplifications:
+* Only simple object with marker (apriltag) is possible to detect and grab
+* The movement of the platform is smooth and slow
+* The environment is feature rich to allow visual odometry to work
+
+The implementation make use of following existing libraries (ros packages):
+* RTabMap (rtabmap_ros)
+* Extended KalmanFilter (robot-localization)
+* UR driver (ur_modern_driver)
+* kinect driver (freenect)
+* AprilTag (apriltag_ros_detector)
+
+AprilTag is encapsulated into the ros packages which is part of this repository. 
+
+
+
+run the visual servoing 
+------------------------
+1. roslaunch ur_description ur5_upload.launch (??)
+1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=130.149.108.91
+1. roslaunch tutorial visual_servoing.launch 
+1. roslaunch freenect_launch freenect-registered-xyzrgb.launch 
+1.  rosrun apriltag_ros_detector apriltag_detector_node raw_image:=/camera/rgb/image_mono
+1.  ~~rosrun tf static_transform_publisher -0.5 0 0.24 0 0 1.57 base_link camera_link 200~~
+1. rosrun tf static_transform_publisher -0.47 -0.0 0.24 0 3.14 -1.57 base_link camera_link 40 
+1. roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"
+1. roslaunch robot_localization ekf_template.launch