Robothon 2023 Grand Challenge SYNbotics Team Report

Authors : Adithya Kumar Chinnakonda Ravi, Aishwarya Krishnamurthy, Charan Raja Sathish

Hardware Setup

The robot setup used for this grand challenge is as shown below.

We use a Realsense d435i and a custom made 3d printed gripper along with the 2F85 gripper.

The setup consists of :

• UR5e universal robotic Arm mounted on an aluminium frame placed behind the table where the taskboard is placed
• We have a custom made 3D printed gripper attached on the 2F85 adaptive robotiq gripper.
• We use d435i realsense camera which is placed on a small 3d mount on top of the gripper

The taskboard is placed and displayed as shown below:

Software Dependency List

The code implementation depends on :

• Third Party software:

  • ROS Noetic
  • UR5e_ robot_driver
  • realsense_ros
  • robotiq_gripper
  • Realsense SDK
  • moveit

• Software developed for robothon

  • robothon_motion
  • robothon_vision

• Code dependencies

  • Python version 3.8
    • Numpy
    • Matplotlib
    • Scikit-image, scikit-learn
    • OpenCV

Quick Start Guide

• Setup PC/desktop with ROS Noetic to run the robot
• Setup the UR5e universal robot control using this control guide. UR5e control guide
  • Run roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=myIP
  • Run roslaunch ur5e_moveit_config ur5e_moveit_planning_execution.launch
• Launch Realsense Camera using roslaunch realsense2_camera rs_camera.launch align_depth:=true
• Activate gripper using robotiq connector roslaunch robotiq_connector robotiq_bringup.launch
• Start moveit-calibration launch file
• Run rosrun robothon_vision boardDetection.py to get the feature detection running
• Run rosrun robothon_motion boardTouch.py to start running the robothon tasks in order of the script