Robot Arm for Archaeology

ROS package to use a modified LoCoBot as a robot arm for archaeology. The arm detects pottery sherds against a background of uniform color, picks them up, and places them in desired locations. This package should be used in conjunction with the PyRobot Interbotix repo.

While this package is intended ultimately for use with the physical LoCoBot, currently it has only been developed on the LoCoBot model in Gazebo version 7. Perception nodes have been written for a modified URDF which moves the Intel RealSense depth camera to the wrist of the LoCoBot.

Quick Start (Simulation in Gazebo)

1) Install Gazebo grasp fix plugin

Put into your ROS workspace using the instructions here

2) Launch the Simulation

1. In the terminal: roslaunch robot_arm archaeology.launch
2. In another terminal window: roslaunch robot_arm arm.launch