ipa_rubbish_bin_detection

Status:

This package aims at providing the solution of rubbish bin detection. Currently, only rubbish bin with the cylinder shape is detected. Grasping points are selected in the top edge of the rubbish bin.

Please change camera intrinsics and measure the height of the cylinder rubbish bin and insert it in the launch/ipa_rubbish_bin_detection_params.yaml file.

The cylinder rubbish bin information and grapsing points are published as /cylinder_object topic.

Commands:

1. Launch the package: roslaunch ipa_rubbish_bin_detection ipa_rubbish_bin_detection.launch
2. Open dynamic reconfigure to change z_max_value to remove points in z direction. Some other parameters also can be changed in the dynamic reconfigure as well as launch/ipa_rubbish_bin_detection_params.yaml file (number of grapsing points, threshold values, ...)
3. Launch camera package (e.g realsense camera): roslaunch realsense2_camera rs_rgbd.launch. The defaut colored point cloud topic is /camera/depth_registered/points.

You can open RVIZ to check the result:

TODOs:

• Change the orientation of the grasping points.
• Generalize shapes of rubbish bin.

Please contact me if you have any question.

This package is one of software components of the research project BakeR

Project video: https://www.youtube.com/watch?v=2exWVXK_xsA