In this repository, theaubo_robotfolder contains the ROS package used for simulation and real-time control in this paper; industrial_corecontains dependencies related to robotic arm control; and the mecheye_ros_interface folder contains the ROS package for the Mech 3D camera. A complete simulation scenario featuring the 3D camera can be viewed at: https://github.com/Tan-Robotic/aubo_sim3dcamera. We have stored the initial development version of the PAEAR framework in PAEAR_src, but the final, complete version will be uploaded and made publicly available after the paper is published.
Launch the simulation environment:
roslaunch aubo_i10_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1
Launch the physical environment:
roslaunch aubo_i10_moveit_config moveit_planning_execution.launch robot_ip:=192.168.192.5
Launch the Gazebo simulation:
roslaunch aubo_gazebo aubo_i10_gazebo_control.launch
Start the camera：
roslaunch mecheye_ros_interface start_camera.launch
Capture point cloud：
rosservice call /capture_point_cloud
Capture a colored point cloud：
rosservice call /capture_textured_point_cloud
The dataset is not yet publicly available, but we can provide it upon request after the paper is published.
The complete source code for the algorithm and the experimental code will be made available after the paper is published.