Part 3 - Pick and Place Object - Grasping Task Simulation of Robotic Arm using ROS (മലയാളം)

[@ThisuRain1990]

Woow this was really helpful for my project. Worked perfectly. Thank you..I wish you all the success

[@sanjunamathews-robotechietips]

🙂 Thank you

[@ThisuRain1990]

@@sanjunamathews-robotechietips If you have the knowledge about how to Translate Natural Language for Robot simulation pls do a video. please let me know if you're doing courses related to that. thanks

[@sanjunamathews-robotechietips]

Wts ur requirement? To recognise natural language and using the sound commands control motion in ROS or real hardware?

[@ThisuRain1990]

@@sanjunamathews-robotechietips I want to simulate the robot arm (just simulation. not hardware) according to human voice command. and robot should be able to understand the command and do the task accordingly. object detection and voice recognition involved. Can you please guide me where to start. for example if voice command gave as "clean the table". Then robot should pick up the items on the table and place somewhere else.

[@sanjunamathews-robotechietips]

@@ThisuRain1990I haven't tried .. bt I will give my suggestions.. * Second part of task - write a python script to subscribe the Ros topic of sound command detected(initially try controlling the robot by publishing the Ros topic manually like "rostopic pub ****** "clean the table"".. later detect from sound and publish as text ) So write a python script to subscribe the command topic and in the code assign as If text == "clean the table" Write code to follow the path through the "poses 1 - 6" Else if text = "pick" Write code to move to pick pose, close gripper, move to place pose ,open gripper which are basically the pose Else if Else if .. So next thing is to do the first part which is basically recognition from voice there is a Ros package wiki.ros.org/speech_recog_uc If u r able to try out successfully you will be able to get the recognised text as a Ros topic (if this is not working you can use any python based speech recognition code and integrate Ros to the python code and publish the detected text as Ros topic) So in total ---- Using a python script detect text from sound Publish the detected text as a Ros topic Subscribe the Ros topic. And using if else cases , go to corr poses ... If the gazebo.launcch and move_group is working in background Corr. Changes will be reflected in the gazebo world If the robot needs to speak , for eg if a task is completed If goal reached(**** Corr command); Publish "I have completed my task" command to robot_sound topic.. if Ros sound node is activated, Corr. Sound will be played through speaker

[@vikiares6]

How to convert object coordinate to goal position

[@宇星张-k1j]

Thank you very much for your sharing, I would like to ask whether the feeding robot project is open source? Eager to understand how it works

[@koushikkarang.n822]

Is it possible to get the scripts ,materials and tutorials for your friends projects mentioned at the last?

[@nabilelmaafi]

Thank you for your efforts.

[@arpithgnaik2815]

When i try to place the object, the object sticks to the gripper. Can you help.

[@sanjunamathews-robotechietips]

There should be atleast some min space between open grippers and the obj to detach the obj.

[@sanjunamathews-robotechietips]

Also there is some detach time.. have u waited some seconds

[@arpithgnaik2815]

When i opened the gripper, object floats between the 2 links of the gripper

[@sanjunamathews-robotechietips]

If it get detached there will be a green detach log in gazebo terminal. If that log is not there it is not "detached" using the plugin.. try more wide grippers or small object..

[@sanjunamathews-robotechietips]

is the distance which the gripper links are allowed to move away from the object during* a grasp without the object being detached, even if there are currently no actual contacts on the object. This condition can happen if the fingers "wobble" or move ever so slightly away from the object, and therefore the "gripping criterion" fails in a few subsequent update iterations. This setting is to make the behaviour more stable. Setting this number too high will also lead to the object not being detached even if the grippers have opened up to release it, so use this with care Try changing this param To try changing more params refer github.com/jenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin

[@arvindpandit409]

Great Work

[@nallaakhil7277]

How can we simulate both in rviz and real time?

[@sanjunamathews-robotechietips]

Gazebo substitutes real environment for simulation.. so in case of hardware interface we should manually write/run nodes for publishing topics like odom, tf etc. In case of a mobile robot, the feedback from motors will given to rviz as odometry. And the robot will move it rviz acc to real world.. similarly instead of controlling the robot in gazebo world we will the using the velocity command from navigation stack to the real robot motors to work.

[@ananths2164]

I have one dout in RoS, how to contact you sis ?

[@rondechaka1160]

thank you very much for this tutorial.

[@sanjunamathews-robotechietips]

❤️❤️

[@rondechaka1160]

@@sanjunamathews-robotechietips I have tried it still the object is glitching out of the gripper. Any possible solution ?

[@sanjunamathews-robotechietips]

Play with parameters of the plugin. Also try changing size , intertia properties of object. Or else decrease the speed of arm movement by changing in config file of moveit config files of arm .. there is an option to set Max acceleration and max velocity.. modify those values to slow down arm motion ..it may avoid dropping of obj if any other approch is working

[@rondechaka1160]

Node::Advertise(): Error advertising topic [/unit_box/joint_cmd]. Did you forget to start the discovery service? getting this error. when I spawn a box and the code try to grasp it but there is no joint commander. so its no able to attach the the box with this.

[@sanjunamathews-robotechietips]

Have u clicked "Play" of gazebo if its paused by any chance

[@arpithgnaik2815]

Have you worked with mobile manipulator?

[@nallaakhil7277]

I have some doubts, how can I contact you

[@sajidaslam3881]

Nice work

[@PranshuTople]

Great Video!!!

[@amithmeledath306]

woah this is really helpful

[@stayermax7548]

If you struggle with picking up the object and plugin doesn't work (In my case I had a lot of troubles trying to install it) try to: 1) Increase friction and torsional friction of the object and of the gripper 2) Reduce object weight 3) Increase gripper effort 4) Change gripper size and shape

[@sanjunamathews-robotechietips]

Thank you so much.. i am the creator of this video..and this comment helped me now 🤣 perks of having a youtube channel

[@vidyadinesh2629]

❤️

[@christhaliyath4991]

Awesome