This repo stores the code for the ECE470 Team BOBOTS project. These source files used in conjunction with UR3 drivers allow for the simulation of a UR3 robot in ROS. The Team BOBOTS robot will serve as a pick and place robot, detecting colored straws and placing them into the appropriate boba drinks.

Project Update 1:

• Installed ROS and other neccessary packages on personal Ubuntu 16.04 system
• Created and successfully built catkin workspace with the UR3 drivers and code from previous labs
• Integrated previous lab code to successfully control the movements of the robot through forward kinematics

Update 1 Video: https://youtu.be/7ch9c7PPKJs

Delivrable 2 Update:

• Fixed various integration issued that were left unaddressed from the last deliverable
• Integrated inverse kinematics using code from previous labs
• Added camera sensor input functionality to allow for decision making based on the robot's surroundings
• Connected all added components to allow for basic pick and place operations on simple blocks

Update 2 Video: https://youtu.be/7m8aVT873a8

Final Submission Update:

• Tuned block detection parameters to detect blocks more optimally
• Created URDF files of various additional block colors
• Updated blob search script to detect new block colors and return multiple sets of keypoints
• Adjusted move block function to fix precision issues when placing blocks
• Rewrote main robot logic to identify similar block colors and stack the blocks appropriately
• Modified block spawning script to randomize block placement within constrained area
• Added commented code to print relevant data for error analysis
• Refactored/cleaned code and cleaned up terminal output

Final Submssion Video: https://www.youtube.com/watch?v=-Hr9zdLKsNA