This repositor is for the 2022 CASE paper Putting away the Groceries with Precise Semantic Placements.
Part of this project is in conjunction with a pervious project and paper
This code base is heavily based on the ROS architecture. Please see more information here if you are unfamiliar.
This repositor is a package to be added in the workspace/src repo available here: Fixturless_fixturiing_place_and_pick Please download and follow the instructions in the sim-melodic branch the repo above. Then add this repository as a package with in the workspace.
Install rail_segmentation package to the workspace/src directory created above. Be sure to run catkin_make.
To test with in the same simulation environment, go to the folder simulation fix. ADD the 'scene' folder to workspace/src/fetch_copeliasim/, to replace the scene folder there. Next add the objects_description folder to workspace/src and replace the folder there.
To run in simulation or on a real Fetch robot, navigate to the scripts folder. The files sim_test.py and real_test.py are both used accordingly.