This is the project dedicated to the ping-pong playing robot manipulator UR10. In the repository you could find the computer aided design, computer vision and control parts.

• OS: Ubuntu 18.04.4
• ROS: Melodic

cd catkin_ws/src

git clone https://github.com/Albertdemian/ping_pong_robot_ur10.git

cd .. && catkin_make

./src/ping_pong_robot_ur10/download.sh

This interface controls the robot in both task and cartesian spaces.

• source your terminal
• launch interface:

roslaunch interface control.launch

• wait for 3 seconds for interface to synchronize with real robot configuration

• Make sure that only one "activate" botton is checked

• You can play with sliders and then check "execute" to see the robot moving to desired position

• You need to source all terminals
• Setup wired connection with robot through network settings
• Connect RealSense camera with usb and setup field of view

roslaunch  ur10_control control_w_ball.launch 

rosrun computer_vision main.py

rosrun ur10_control catch_ball.py