Summary

In 2021, I participated to the RoboCup@Home (SSPL) competition for the first online edition. I used the simulator Gazebo with the robot Toyota HSR in order to solve two different tasks including capabilities such as navigation, object detection and grasping. My solution was based on ROS Melodic and uses YOLOV4 to detect custom objects, GPD (Grasp Pose Detector) to compute grasping pose and MoveIt! to perform grasping. Thanks to this light-weight and efficient solution, I performed 3rd in the Social Standard Platform League (SSPL) by solving the two proposed tasks: Clean-Up and Go-And-Get-It