3D perception for robotics

Hello everyone! Today I would like to go with you through the steps of filtering a camera image, clustering for segmentation and doing object recognition, all that for the famous PR2 robot. We will use the Point Cloud Library (PCL) to help us with that along with Gazebo, RViz and Python. In the following sections, I will introduce each mention aspect in detail. Full code for the project is available here: udacity-robotics-perception project on Github. The PR2 robot The PR2 is an open and robust robot platform designed from the ground up...

Pick and place using Kuka KR210 in simulation

The second Udacity project was all about solving Inverse Kinematics often used in industrial robotics. I worked with a six degree-of-freedom robotic arm (Kuka KR210) in a simulated environment to complete a pick-and-place operation. The whole process was implemented using the Robot Operating System (ROS), Gazebo and RViz. So let’s see how it went! Gazebo view of the project environment. The whole problem can be divided into a few steps: Creating the DH parameter table, Calculating transform matrices, Creating rotation matrices, Gazebo vs DH parameters, Calculating joint angles. So let’s start from the beginning....

Udacity Robotics Lunar Rover challenge

I am taking part in the Robotics Software Engineer nanodegree at Udacity. Our first project was modeled after the NASA find and retrieve rover mission challenge. In this blog post I will go through the techniques that were used to achieve a success rate and pass the requirements. The code for the project was done in Python using a Unity simulator. Project overview The project aim was to give experience with the basic elements of robotics: perception, decision making and action. The goal was to create the code for a rover that will navigate autonomously...

A year in review 2017

Merry Xmas and a Happy New Year everyone! We are nearing the year 2018 and it is time to look back at what happened this year. I will go through my accomplishements, failures and plans, and make a summary on what has happened. Goals for year 2017 Each year I make my own “new year resolutions”, that are actual plans for the upcomming 365 days. I always try to finish them, although they don’t always end with a positive result. Here you can see, what I told myself I will do one year ago: Study robotics and IoT...

How to write data to the HD44780 Display

Today we will connect a HD44780 Display to our Arduino board. Using displays like this is one of the most common ways of showing data from your sensors or any other messages to the user. Without further introduction, let’s get right into the good stuff! Connection We have quite a lot connecting to do here, so be sure to stick everything into the right place or this won’t work. When you look closely, you will be able to see that the pins on the HD44780 are numbered 1-16 and we will use that fact to connect it...