robot tracker uses KUKA iiwa equiped with a Intel RealSense D435 camera to track the mobile robot on the ground. The goal is to keep the mobile robot in the center of the view. The Vicon, a motion capture system, will be leveraged for calculating the accurate position of the mobile robot.

1. Vicon host machine
2. ROS host machine (ROS Ubuntu Kinetic is installed)
3. mobile robot (zumopi), and the model in Vicon Tracker
4. KUKA iiwa with ROS control enabled, please refer to my repo robotic_scan
5. Intel Realsense SDK is installed on you ROS machine and ros warpper realsense is installed.

1. Network:
   • Vicon host: 192.168.1.111
   • KUKA iiwa: 192.168.1.161
   • ROS machine: 192.168.1.171
2. Active Vicon Tracker and zumopi, a model is avaialable in Vicon Tracker
3. Active the ROSSmartServo on KUKA iiwa teach pendant

1. Install vicon_bridge for position information query on your ROS machine

   mkdir -p ~/ros_ws/src
   cd ~/ros_ws/src
   git clone https://github.com/ethz-asl/vicon_bridge.git
   cd ..
   catkin build
   

2. Clone this repo and start tracking

   cd ~/ros_ws/src
   git clone https://github.com/suneric/robot_tracker.git
   cd ..
   catkin build
   

• [option] start ros masterroscore
• start robot tracker roslaunch robot_tracker iiwa.launch, this will start
  • the vicon
  • the realsense2 camera
• move the zumopi, the robot will track the position of the zumopi.

Yufeng Sun | [email protected] | IRAS Lab @ University of Cincinnati