Prerequisite knowledge:
ROS Programming , C++ and python

Requirements:
Opencv 4.0 and ROS Melodic.

OpenCV 4.0 installation tutorial:
http://www.codebind.com/linux-tutorials/install-opencv-3-2-ubuntu-18-04-lts-linux/

• Build the simulation environment and hardware platform.

• Use the method of adaptive threshold segmention in computer vision to find the grasping target in a image taken by Kinect 2.0 with simple backgroud.

• Test and improve GG-CNN first published by Morrson D, Corke P and Leitner J in a paper:

  Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach[J]. arXiv:1804.05172 [cs], 2018.

• Use the server to process the neural network and transport the result to local computer, which is used to control robotic arm to grasp the target.

• Packages included

  gazebo_grasp_plugin

  gazebo_version_helpers

  The above two files is used to solve the collision problem in gazebo.

  iai_kinect2

  The above files is used to connect Kinect 2.0 with local computer, including files about kinect 2.0 calibration. https://github.com/code-iai/iai_kinect2

  image_segment

  The above files is about how to use the method of computer vision to obtain the coordinate of target in an image.

  kuka_coordinate_transform

  The above files is about how to convert the coordinates of target in the camera frame to that in the robot frame.

  kuka_description

  kuka_gazebo

  kuka_kr6_support

  kuka_resources

  The above four files is about how to build a KUKA KR6 700 SIXX robotic arm in a simulation environment within rviz and gazebo. More details and materials could be found by the following link: https://github.com/ros-industrial/kuka_experimental

  kuka_image_processing

  The above files is about the usage of GG-CNN in this situatin.

  kuka_moveit_config

  The above files is about how to use MoveIt! in arm's path planning, and the process of configuration could be found in the following website: https://www.bilibili.com/video/av48016403?from=search&seid=376820350019891062

  kuka_eki_hw_interface

  kuka_rsi_hw_interface

  kuka_rsi_simulator

  The above three files is about the communication between the KR C4 controller and your own computer. The usage could be found under corresponding folder (**.md).

  robotiq_85_bringup

  robotiq_85_description

  robotiq_85_driver

  robotiq_85_gripper

  robotiq_85_moveit_config

  robotiq_85_msg

  robotiq_85_simulation

  The above files is about how to simulate a gripper called robotiq. More details could be found in the following websites: https://github.com/waypointrobotics/robotiq_85_gripper

1. Create your own folder "catkin_ws/src" in Ubuntu 18.04.02, run the below command in terminal:

  mkdir -p catkin_ws/src & cd catkin_ws/src

2. Copy the packages you need to the folder catkin_ws/src

3. Build the packages. Run the following command in terminal

  cd catkin_ws & catkin_make 

4. Add the following command to the end of .bashrc and run 'source .bashrc' in terminal:

  source /your/own/catkin_ws/devel/setup.bash

4. When finshing building, you can use ros command like roslaunch,rosrun to run the package on your own computer.

link: https://pan.baidu.com/s/1WLWzZg3ccNwFzP3bupr_Mg
keys: 1d4e

link: https://pan.baidu.com/s/1NYKOJnCEZ4wD1qHstpTycw 
keys: 52qk

Install workvisual

Read the following operation manual

link: https://pan.baidu.com/s/10C-aRHcBKkEqFARYVNCZWA
keys: xeqc

Note: All config could be done only if you signed in the controller system as an engineer

Note: Change the firewall settings to allow corresponding Ethernet to access any network

1. Connect your computer and KUKA Robot with network cable

2. Change the IP address of the local Ethernet to be same the network segment as the KUKA Robot. For example, if the IP address of KUKA Robot is 192.168.1.101, then IP address of your computer's Ethernet should be 192.168.1.x (0<x<255 and x != 101)

3. Check the connection, you can use Ping 192.168.1.101.

• Download and install Workvisual 4.x. https://www.kuka.com/zh-tw/services/downloads?terms=product_name:KUKA.WorkVisual&q=

• Install KOP in Workviusal. You can copy the KOP file from the D:/the/package/you/used/like/EthernetKRL on the controller KR C4, or download from the following link:

  link: https://pan.baidu.com/s/1fvfy3Gk5OHXuUdscAd-uxg
  keys: uiii

  The following video will show you how to install KOP.

  link: https://pan.baidu.com/s/1EBUf_UTtueaKWCdYNvJdXg
  keys: j9s6