{"id":12444,"date":"2019-06-24T11:38:50","date_gmt":"2019-06-24T09:38:50","guid":{"rendered":"https:\/\/blog.zhaw.ch\/icclab\/?p=12444"},"modified":"2021-03-04T18:45:28","modified_gmt":"2021-03-04T16:45:28","slug":"3rd-robotics-and-ros-in-zurich-meetup","status":"publish","type":"post","link":"https:\/\/blog.zhaw.ch\/icclab\/3rd-robotics-and-ros-in-zurich-meetup\/","title":{"rendered":"Third Robotics and ROS in Z\u00fcrich Meetup"},"content":{"rendered":"\n

The third robotics and ROS in Z\u00fcrich meetup<\/a> was organized and hosted by ICCLab on June 19th 2019. There was a good turnout from representatives in both academia and industry, totaling about 25 people in attendance. For our third meetup we had two presentations: “Perception and action planning in complex environments with ROS” by Rastislav Marko and Martin M\u00f6ller from F&P Personal Robotics<\/a> and “Self-calibrating camera position and grasping with Niryo arm” by Dimitrios Dimopoulos from ICCLab, ZHAW.<\/p>\n\n\n\n

Summary of presentation #1: Perception and action planning in complex environments with ROS by Marko Rastislav and Martin M\u00f6ller from F&P Personal Robotics<\/h2>\n\n\n\n

Martin M\u00f6ller opened the first talk with a brief introduction of the company and one of its collaborations with ZHAW in the past. Next an overview of the hardware components of P-Rob 2R<\/a> was given. This robot lies at the heart of the company’s solutions, including Lio, a mobile service robot, which was the focus of the talk. Following that, myP, the core robot library with its accompanying graphical control interface, was presented in action and a quick look at its architecture and configuration was showcased. Finally, Martin mentioned the key sensor components used by the mobile service robot.<\/p>\n\n\n\n

\"\"
Martin M\u00f6ller presenting some of the company’s robotic solutions<\/figcaption><\/figure>\n\n\n\n\n\n\n\n

Next, Rastislav Marko gave a rundown of the ROS components utilized for navigation and high level perception (face\/speech\/object recognition, body posture estimation etc.). Furthermore some ROS monitoring tools were presented along with the overall system architecture. Lastly, a case study was presented of Lio in a real hospital environment.<\/p>\n\n\n\n

\"\"
Rastislav Marko presenting the overall system architecture<\/figcaption><\/figure>\n\n\n\n

Summary of presentation #2: Self-calibrating camera position and grasping with Niryo arm by Dimitrios Dimopoulos from ICCLab, ZHAW<\/h2>\n\n\n\n

For the second part of the meetup, Dimitrios Dimopoulos gave a brief presentation on an ongoing grasping project at ICCLab. The lab’s two grasping robots were showcased along with a brief overview of the simulation environments used for evaluation. Next, the grasping chain was presented including the MoveIt<\/a> library for motion planning and collision detection, and the Grasp Pose Detection<\/a> library used for the grasp generation. A more detailed description of the steps necessary for grasping was given next, including camera calibration using Aruco<\/a> markers, pointcloud filtering for object extraction, object mesh creation, grasp generation and motion planning. Finally, a short demonstration of grasping using the Niryo<\/a> arm was given.<\/p>\n\n\n\n

\"\"
Dimitrios Dimopoulos on the grapsing chain architecture<\/figcaption><\/figure>\n\n\n\n

Closing Remarks<\/h2>\n\n\n\n

The event was closed with a networking session over drinks and finger food. Many thanks to F&P Robotics for sponsoring this part of the meetup. <\/p>\n\n\n\n

All future events and updates can be followed by becoming a member of the Robotics and ROS in Z\u00fcrich group.<\/a> This was the last meetup before summer break. We’ll be back with more ROS goodies from (late) September. We look forward to continue meeting ROS-users\/roboticists within the area. <\/p>\n

Schlagw\u00f6rter: grasping<\/a>, meetup<\/a>, robotics<\/a>, ROS<\/a>
<\/div>","protected":false},"excerpt":{"rendered":"

The third robotics and ROS in Z\u00fcrich meetup was organized and hosted by ICCLab on June 19th 2019. There was a good turnout from representatives in both academia and industry, totaling about 25 people in attendance. 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