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The robot uses **image-based visual servoing (IBVS)** to detect and track a rectangular object using its **end-effector camera**. The system extracts **corner points** of the rectangle and adjusts the robot's position dynamically to align with a predefined reference.\n\n## Features\n\n- **Real-time Rectangle Detection**: Uses **ORB feature detection and RANSAC filtering** for robust corner point detection.\n- **ROS Integration**: Subscribes to **camera image topics**, processes frames in **OpenCV**, and publishes **detected features**.\n- **Trajectory Control**: Uses **FollowJointTrajectoryAction** to move the Kinova Gen3 arm.\n- **Visual Servoing Loop**: Computes **position corrections** based on detected rectangle corner deviations.\n- **Gazebo Simulation Support**: Can run in both **real hardware** and **Ignition Gazebo**.\n\n## System Architecture\n\n```\n+------------------------------------------------------+\n|                      ROS Framework                   |\n+------------------------------------------------------+\n|   Image Capture    |   Feature Detection   | Control |\n|  (Camera Topic)    | (ORB + RANSAC)       | (MoveIt!)|\n+------------------------------------------------------+\n|                   Kinova Gen3 Robot Arm             |\n+------------------------------------------------------+\n```\n\n## Dependencies\n\nEnsure you have the following installed:\n\n- **ROS 1 Noetic**\n- **MoveIt!**\n- **OpenCV (cv\\_bridge, image\\_transport)**\n- **Kinova ROS packages** (`kortex_driver`, `kortex_examples`)\n- **Gazebo Fortress/Garden** (for simulation)\n\n### Installation\n\n```bash\n# Clone your workspace and install dependencies\ncd ~/Desktop/robot_ws/src\ngit clone https://github.com/your-repo/your-project.git\ncd ..\nrosdep install --from-paths src --ignore-src -r -y\ncatkin_make\nsource devel/setup.bash\n```\n\n## Running the Project\n\n### 1. **Launch Gazebo Simulation**\n\n```bash\nroslaunch kortex_examples gazebo3.launch\n```\n\n### 2. **Start the Visual Servoing Node**\n\n```bash\nrosrun kortex_examples visual_servoing.py\n```\n\n### 3. **View Processed Images**\n\n```bash\nrqt_image_view /edge_detected_image\n```\n\n### 4. **Move Robot to Initial Position**\n\n```bash\nrostopic pub /move_robot std_msgs/Empty {}\n```\n\n## How it Works\n\n1. **Capturing Reference Image**: The arm moves to **position-1** and captures a reference image.\n2. **Real-time Processing**: The camera continuously captures frames and detects the largest rectangle.\n3. **Feature Extraction**: ORB detects corner points, filtered using **RANSAC** for robustness.\n4. **Error Computation**: Compares current rectangle corners with the reference and computes an error vector.\n5. **Robot Adjustment**: Adjusts the arm’s position iteratively to align with the reference.\n6. **Convergence**: The process stops once the alignment error falls below a threshold.\n\n## Expected Results\n\n- The robot should **accurately align** with the rectangle even with slight perturbations.\n- Robust corner detection should work even in **varying lighting conditions**.\n\n## Future Improvements\n\n- **Refine ORB \u0026 RANSAC parameters** for better robustness.\n- Implement **deep learning-based corner detection** for improved accuracy.\n- Extend to **6-DOF pose estimation** instead of just 2D alignment.\n\n## Authors\n\n- **Your Name** – *Surabhi Dwivedi, Deepraj Majumdar*\n- **Institution/Organization** – *Indian Institute of Technology, Jodhpur*\n\n---\n\n⭐ **If you find this project useful, give it a star!** ⭐\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsurdubey%2Fsteadysync-equilibria","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsurdubey%2Fsteadysync-equilibria","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsurdubey%2Fsteadysync-equilibria/lists"}