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ROS based OpenCV Image Detection + Grasping with Arduino Braccio Arm

Hi ROS community,
I’m new to robotics and automation and so grateful for all the work you’ve all put into ROS. I just built my first project last week that uses OpenCV with pretrained YOLOv3 weights to identify apples and target an Arduino Braccio arm to pick them up.

braccio_summary

It pulls images from a standard 2D webcam (an old cell phone running DroidCam) and passes the detected coordinates of the apple’s bounding box to a MoveIt python script. I’ve written a bare bones transform to convert from the image frame to the robot frame of reference for pick up.

For more details and a link to the source code, you can check out my post.

I plan to expand on this project to get the arm to target veggies, put them through a food processor and assemble salads/burrito bowls. Just want to say again what a huge help the ROS community has been in jump-starting this project.

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So awesome! Love cheap affordable robots that run ROS. Looking forward to seeing your follow-on efforts!

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