ur5-ros

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Demonstration of using ROS with Universal Robots UR5 industrial robotic arm for pick-and-place applications with real-time object detection

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# UR5ROSProject

## Files
* [visionPick.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/visionPick.py): The main demo that picks up the object based on vision and places it in a pre-defined location  
* [vision_viewer.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/vision_viewer.py): Allows the user to see the detected coordinates of the cork in real time  
* [hsv_trackbar.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/hsv_trackbar.py): Used to find the HSV low and high values of the desired object  
* [image_utils.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/image_utils.py): Utility methods for getting the image from http, and finding the centroid  
* [gripper.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/gripper.py): Utility methods for opening and closing the gripper  
* [pickAndPlaceDemo.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/pickAndPlaceDemo.py): Pick and place demo based on pre-defined joint locations  
* [moveJointGoal.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/moveJointGoal.py): Demo for moving based on joints positions  
* [movePoseGoal.py](https://github.com/ashah03/UR5ROSProject/blob/master/src/movePoseGoal.py): Demo for moving based on poses – currently overshoots, needs tuning

ur5-ros

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