ROS2: Jekko Crane Pick-up Skill with Camera Detection
- Related: Python, Automatization, Coding, ROS2, MSc, Construction Robotics
- Gitlab URL: Project Link
Intro
The jekko package is a ROS2 package that has been developed by Görkem Can Ertemli and Gizem Erekinci Atlan for the 3rd Semester Prototyping Project of Construction Robotics Masters in RWTH Aachen. It's main purpose is to create and simulate a pick-up skill fo the jekko SPX532 Mini Crane, with the help of a camera device in RVIZ environment.
Key Features
The main purpose of this package is to simulate jekko SPX532 machine and control its movements using a camera. In order to make it reach out you also require specified aruco markers so that the algorythm can detect the boundry, detect the location of the material, its height and weight and suggests and simualtes the required movements to pick the specified material automatically if it is possible. The code also considers the height and weight of the object on hand, so even if it can reach it doesn't mean that it can lift it. This package was designed to work with your phone or webcam as your video feed that is provided by the companion app.