/aravs-niryo-ned2

An autonomous refueller with a static robotic arm using visual odometry.

Primary LanguageC++GNU General Public License v3.0GPL-3.0

aravs-niryo-ned2

An autonomous refueller with a static robotic arm using visual odometry.

Setup

  • Clone aravs-niryo-ned2 into catkin_ws/src as
cd catkin_ws/src
git clone https://github.com/SR42-dev/aravs-niryo-ned2.git
  • Navigate to catkin_ws and build the workspace as
cd .. && catkin_make

To Run

  1. For the Niryo Ned2 representation of the concept, open NiryoStudio, upload monolith.py onto the robot after connecting and run.
  2. For the ARAVS native implementation of the concept on the robot's on-board computer, run
roslaunch aravs_niryo_ned2 staticarm_real.launch
  1. For the ARAVS simulation on Gazebo, run
roslaunch aravs_niryo_ned2 staticarm_gazebo.launch

Note : The latter two cases only detect whycon markers from the robot's camera feed and publish their poses on the /whycon/markers topic.