ROBOTHON 2023 Bring Your Own Device

Measurement of battery's voltage inside a clicker with a voltmeter manipulated by two Franka Emika robotics arms. The voltage measured by the voltmeter is then captured using a camera mounted on the Franka robotic arm and eventually displayed to the user using a GUI.

Contents

1. Installation
2. Repo Structure
3. Contributors

Installation

Prerequisites

• Ubuntu 20.04
• ROS Noetic

Clone the repo

1. Create a catkin workspace
2. Clone the repo using the following commands:

cd ~/your-catkin-ws/src/
git clone https://gitlab.iit.it/hrii/projects/robothon/hrii_robothon_byod

3. Invoke catkin tool inside ros workspace i.e. catkin_make

Dependencies

• hrii_board_localization
• hrii_task_board_description
• hrii_robothon_gripper_description
• hrii_robothon_msgs
• hrii_task_board_fsm

Launch Franka Emika manipulators

roslaunch hrii_robothon_byod main_byod.launch

Launch the camera with the GUI

cd ~/your-catkin-ws/src/hrii_board_localization/scripts
python scripts/read_text.py

Repo Structure

hrii_robothon_byod
├── config
├── include
├── launch
├── rviz
├── src
└── README.md

Contributors

• Andrea Fortuna, Andrea Fortuna
• Pietro Balatti, Pietro Balatti
• Mattia Leonori, Mattia Leonori
• Hamidreza Raei, Hamidreza Raei