[ros-users] [Discourse.ros.org] [ROS Projects] ROS + Kinect for autonomous grasp

Mark Bastourous ros.discourse at gmail.com
Sun Jun 18 14:01:02 UTC 2017

I can divide your problem in some subproblems as follows.

First for object recogition ( ps it will not give precise pose ) but it will provide you with the bounding box around different objects in a clustered scene : https://pjreddie.com/darknet/yolo/ . 
ROS wrapper : https://github.com/kunle12/dn_object_detect .

>From there you can start with the pose estimation.

You can find some of the pose estimation libraries here : 1- http://wiki.ros.org/tabletop_objects
2- http://wiki.ros.org/cob_object_detection : this one is having also a gazebo simulation ready made ( i didn't test it yet)
There are many more that i am sure they are available but either i dont remember or i am not aware of its existance. 

Currently i am trying to develop my own object pose estimation as i wasn't satisfied with most of the available libraries but that is a side project so it will take much time to come to life.

Moveit can be used to path and motion planning of the arm http://moveit.ros.org/ .

Also i urge you to follow up with some work of the teams participating in Amazon picking challenge. In here you will find list of the repos for these teams : https://github.com/amazon-picking-challenge .

This paper is nice also : https://pdfs.semanticscholar.org/57cb/dae58b8718db0209885a5fb170eaddd619b9.pdf . 
I hope this can help you with anything.

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