Shaastra Pick-up and Delivery PS

aruco_detector

This package detects any aruco markers (registered in the dictionary/custom dictionary) detected using oCam-1CGN-U.

color_detector

This package is built on similar lines as above, used to detect particular colored shapes.

ocam

This package is the ROS driver used for oCam-1CGN-U.

pose_estimator

This package calculates the pose of the detected aruco marker/colored shape with respect to the world frame.

shastra_emag

This package handles controlling turning on/off of the electromagnet using a relay and arduino with ros_arduino package.

shastra_msgs

Some custom messages used throughout other packages

shastra_planner

This package implements the FSM that handles working of every other package.

Steps for installation

Installing dependencies

sudo apt-get install -y libopencv-dev python3-opencv ros-noetic-cv-bridge ros-noetic-codec-image-transport ros-noetic-gazebo-msgs ros-noetic-usb-cam libudev-dev libv4l-dev

If issues in libopencv-dev

sudo apt purge libgphoto2-6 && sudo apt autoremove
sudo apt install libgphoto2-6
sudo apt install  libopencv-calib3d-dev libopencv-contrib-dev libopencv-features2d-dev libopencv-highgui-dev libopencv-imgcodecs-dev  libopencv-objdetect-dev  libopencv-shape-dev libopencv-stitching-dev  libopencv-superres-dev  libopencv-video-dev libopencv-videoio-dev  libopencv-videostab-dev  libopencv4.2-java libopencv-calib3d4.2 libopencv-contrib4.2 libopencv-features2d4.2 libopencv-highgui4.2 libopencv-imgcodecs4.2 libopencv-videoio4.2 libgdal26 libodbc1 libgphoto2-dev

Cloning and building repo

mkdir -p ~/shastra_ws/src
cd shastra_ws 
catkin init
cd src
git clone https://github.com/AerialRobotics-IITK/shastra23 .
catkin build