Sensor Based Object Compliance Test

This project initiates a novel approach towards the compliance test of the object!

Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Build
4. Run
5. Usage
6. Contributing
7. License
8. Contact
9. Acknowledgements

About The Project

![Product Name Screen Shot][product-screenshot]

There are several projects and online research papers, journals and conference papers that deal with the compliance test of the object. However, some uses image processing, or machine learning or deep learning. In our project, we introduce a novel approach of using Point Cloud to determine the compliance as well how to pack the object within a package which is somewhat smaller than the object, given that it is satisfying the compliance test.

Built With

The project was (still in process) using the following framework and hardware:

• ROS
• C++
• Intel Realsense
• KUKA LBW iiwa R820 Robot

Getting Started

To get started with the project, you need to have the following prerequisites installed in your system.

Prerequisites

• ROS

  The ROS (Robot Operating System) is a free software, sourced and maintained by Open Robotics. You must have ROS in order to run this project on your system

Installation

1. Get a free API Key at https://example.com
2. Clone the repo

   https://github.com/sshaizkhan/amazon_ws.git

3. Install Realsense ROS library by following the installation process explained on the website

Note:

It's important to install the Realsense in the /src folder of the project

Build

Once you have all the necessary files and hardware arranged, you can build your project.

cd your_project_directory
catkin_make

In order to save processing power, you can also use:

catkin_make -j7

Here, 7 denotes the number of cores you want to assign during make process, since it's high power consuming process. You can assign however amount of core you want.

Run

After building the project, you are ready to run the project and various nodes in order to acomplish the task.

roslaunch your_package_name your_launch_file.launch

Usage

Check out this amazing video, where a 7 dof KUKA LBR iiwa robot is picking the package, placing it over the poke bed checking for compliance using side mounted Realsense depth camera and then packaging it into a packet smaller than the package.

Contributing

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

Distributed under the MIT License. See LICENSE for more information.

Contact

Your Name - Shahwaz Khan

Project Link: Amazon_ws

Acknowledgements