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Quick Start Guide - Weld Line Vision with Robot

1. Build (First Time Only)

cd ~/welding_robot
source /opt/ros/noetic/setup.bash
catkin build weld_line_vision
source devel/setup.bash

2. Generate Markers (Optional)

roscd weld_line_vision
cd scripts
python3 generate_aruco_markers.py
# Markers saved in aruco_markers/ directory
# Print at 300 DPI, actual size

3. Setup Markers

Workspace Markers (6cm each):

   [ID 0]----------[ID 1]
      |              |
      |  Workspace   |
      |  (A4 paper)  |
      |              |
   [ID 2]----------[ID 3]

Robot Markers (10cm each):

Robot Base:
   [ID 7]  ← Front/Top
     |
     | (same plane)
     |
   [ID 17] ← Back/Bottom

4. Launch System

source ~/welding_robot/devel/setup.bash
roslaunch weld_line_vision vision_with_robot_rviz.launch

5. What You'll See

RViz Windows:

  • Main 3D view: Robot + workspace + trajectory
  • Debug image: Camera view with markers
  • Joint sliders: Move robot manually

Terminal Output:

[ INFO] ArUco ids: TL=0 TR=1 BL=2 BR=3
[ INFO] Robot base: (0.105, 0.148, yaw=45.0 deg)

6. Troubleshooting

No markers detected:

# Check camera
rostopic hz /droidcam/image_raw

# View debug image
rosrun image_view image_view image:=/weld_line_vision/debug_image

Robot not showing:

# Check TF
rosrun rqt_tf_tree rqt_tf_tree

# Look for: world → workspace_frame → base_link

No weld line:

# View color mask
rosrun image_view image_view image:=/weld_line_vision/debug_mask

# Adjust HSV in launch file if needed

7. Adjust Parameters

Edit vision_with_robot_rviz.launch:

Camera:

<arg name="video_device" default="/dev/video0" />
<arg name="image_width" default="640" />

Colors (Cyan/Blue):

<param name="h_low" value="75"/>    <!-- Hue min -->
<param name="h_high" value="130"/>  <!-- Hue max -->
<param name="s_low" value="20"/>    <!-- Saturation min -->
<param name="v_low" value="40"/>    <!-- Value min -->

Marker IDs:

<param name="id_robot_top" value="7"/>     <!-- Change if needed -->
<param name="id_robot_bottom" value="17"/>

8. Useful Commands

# List topics
rostopic list | grep weld

# Echo weld path
rostopic echo /weld_line_vision/weld_path

# View TF tree
rosrun rqt_tf_tree rqt_tf_tree

# Check node info
rosnode info /weld_line_vision

# Record data
rosbag record /weld_line_vision/weld_path /tf

9. Files Created

weld_line_vision_pkg/
├── src/
│   └── weld_line_vision_node.cpp         (modified)
├── launch/
│   └── vision_with_robot_rviz.launch     (new)
├── config/
│   └── robot_workspace.rviz              (new)
├── scripts/
│   └── generate_aruco_markers.py         (new)
├── CMakeLists.txt                        (modified)
├── package.xml                           (modified)
└── README_USAGE.md                       (new)

10. Expected Result

When all markers are detected:

  • ✅ Green workspace rectangle visible in RViz
  • ✅ Robot model positioned at markers 7 & 17
  • ✅ Red weld path following the detected line
  • ✅ Blue points along the trajectory
  • ✅ All TF frames showing in TF tree

Need Help?

  • See README_USAGE.md for detailed documentation
  • See IMPLEMENTATION_SUMMARY.md for technical details
  • Check ROS logs: ~/.ros/log/latest/