Visual Servoing

Installing Dependencies

Install moveit if moveit is not already installed

sudo apt-get install ros-kinetic-moveit

Instructions to setup the workspace to use with UR5 Robot

Go to the directory where you want the workspace and run the commands to create a catkin workspace.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

UR5 packages installation instruction from the ROS Industrial github repository:

cd $HOME/catkin_ws/src

# retrieve the sources (replace '$ROS_DISTRO' with the ROS version you are using)
git clone -b $ROS_DISTRO-devel https://github.com/ros-industrial/universal_robot.git

cd $HOME/catkin_ws

# checking dependencies (again: replace '$ROS_DISTRO' with the ROS version you are using)
rosdep update
rosdep install --rosdistro $ROS_DISTRO --ignore-src --from-paths src

# building
catkin_make

# activate this workspace
source $HOME/catkin_ws/devel/setup.bash

Instructions to setup the Visual Servoing Package

cd ~/catkin_ws/src
git clone https://github.com/Mayavan/visual_servoing.git
cd ~/catkin_ws
catkin_make

Instruction to run the demo

roslaunch visual_servoing visual_servo.launch