Use the ArUco marker to calculate the relative coordinates and move Turtlebot3 to the corresponding location. Recognize a small box as an object with yolo8, pick it up with the manipulator, and place it on the conveyor belt. Pick up the box again at the end of the conveyor belt and move it to the unloading area.
ID: rokey, Password: 1234
When an employee presses the Play button, the Turtlebot issues Aruco markers in the order of Aruco marker 4->7->15 and moves to the corresponding marker locations. After arriving at each location, it stops and saves and displays the status as "arrived at marker 2".
An employee can also manually move Turtlebot to the desired marker by selecting the Aruko marker directly from Dropbox.
When an employee selects a job from dropbox, a 'target_counts' ros topic is published, which is received by the manipulator and the job is executed.
Below is job list which manipulator must conduct when employee selects.
In an emergency situation, if an employee presses the red Stop button, the conveyor belt, AMR, and Manipulator will all stop.
When the employee presses the Resume button, it will start again from the point where it stopped, and when the Reset button is pressed, the turtlebot will move to the initial position, aruco marker 2, and change the status to the initial state.
(기준마커(ID:2)를 통해 목표마커(ID:15)의 좌표 계산하기) 벽에 수직으로 붙은 ArUco 마커의 z, x 값을 이용하여 목표좌표의 상대거리(tvecs)및 방향(rvecs)을 계산합니다.
# 기준 마커의 회전 행렬 계산
R_base, _ = cv2.Rodrigues(base_rvec) # 기준 마커의 회전 행렬
R_base_inv = np.linalg.inv(R_base) # 회전 행렬의 역행렬
# 타겟 마커의 이동 벡터를 기준 좌표계로 변환
tvec_relative = R_base_inv @ (target_tvec.T - base_tvec.T)
# z, x 성분만 추출
tvec_relative_xz = tvec_relative[[0, 2]] # z, x 좌표 (상대 이동)
distance = np.linalg.norm(tvec_relative_xz) # 거리 계산
direction_vector = tvec_relative_xz / distance # 방향 벡터 (단위 벡터)
# z, x를 기반으로 각도 계산 (atan2 사용)
angle_rad = np.arctan2(tvec_relative_xz[1], tvec_relative_xz[0]) # 라디안 단위
Turtlebot3 Manipulating Demo Video
Pick and Place On Conveyorbelt Demo Video
GUI Server Node
ros2 run virtual_factory guiAruco Marker Detecting Node
ros2 run virtual_factory arucoAMR Node
ros2 run virtual_factory amrManipulator Node
ros2 run virtual_factory manipulator