/segregator

Primary LanguageC++

segregator - ENPM808X FINAL PROJECT

Build Status Coverage Status License

Overview

In today’s fast-paced production environments, picking and packing operations demand uninterrupted speed, reliability, inspection, sorting, accuracy and dexterity from human operator. To increase productivity and ease of implementation, we will be developing software for a Kuka robotic manipulator that can segregate different colored packages and place them on preassigned belts/cases. This will not only lower costs versus manual labor, but also saves valuable production time for Acme Robotics. We will be defining the zeroth configuration of the Kuka robot. An overhead camera will detect the color of the package that can be modified by the user. Local coordinate of the object will be published w.r.t the manipulator’s location. Eventually the vacuum gripper of the manipulator will be brought to the object location through an optimal trajectory, dodging obstacles (static) if any. The gripper will be activated to pick and place the object in the desired station. Category - “Material handling robot”.

Code Coverage

Code coverage

(NOTE: Do not mistake this tag with the tag generated by coveralls.)

We have been facing issues to get coveralls to pick the repository from Travis. We have been trying for 3 days but somehow coveralls isn't able to check for code coverage even though the project is building on Travis.

To run code coverage locally follow the steps given below:

  • First you need to install the following package
sudo apt-get install lcov
  • After installing please open a new terminal and give the following commands
source ~/catkin_ws/devel/setup.bash
roslaunch iiwa_moveit moveit_planning_execution.launch
  • Open a new terminal and give the following commands
catkin_make code_coverage
  • To see the code coverage please give the following commands
cd ~/catkin_ws/build/coverage/
firefox index.html

We have attached a few screenshots of the code coverage that was locally built on our system it can be found under extra files section in the repository.

Demonstration

Presentation

Video File

The video to the project Demonstration can be found using the following links:
For the Red and Blue configuration: RB world
For the Yellow Green configuration: YG world

About the authors

Here is a little information about the authors:

  • Kamakshi Jain
  • Sayan Brahma
  • Chinmay Joshi
    I am a graduate student doing my Master's in Robotics at the University of Maryland. My Bachelor's degree was in Electronics and Instrumentation Engineering from Vellore Institute of Technology, India. I would like to work in the field of Robotics with a focus on either Computer Vision or Machine Learning.

Technologies to be used:

  • Ubuntu 16.04
  • ROS Kinetic
  • OpenCV
  • Gazebo for simulation
  • Kuka Manipulator Model, vacuum gripper model, camera module

AIP Logs

AIP Spreadsheet- This contains our product backlog, iteration backlog, and work log.

Sprint doc

Sprint Planing - This contains the google doc with sprint plans and problems faced.

LICENSE

Copyright <2019> 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Dependencies

  • To install ROS Kinetic in Ubuntu 16.04, follow the steps in this link.

  • To install catkin, follow the installation steps in this link.

opencv Install OpenCV 3.3.0 using the following commands:

Install OpenCV Dependencies

sudo apt-get install build-essential checkinstall cmake pkg-config yasm gfortran git
sudo apt-get install libjpeg8-dev libjasper-dev libpng12-dev
sudo apt-get install libtiff5-dev
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev
sudo apt-get install libxine2-dev libv4l-dev
sudo apt-get install libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
sudo apt-get install libqt4-dev libgtk2.0-dev libtbb-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libfaac-dev libmp3lame-dev libtheora-dev
sudo apt-get install libvorbis-dev libxvidcore-dev
sudo apt-get install libopencore-amrnb-dev libopencore-amrwb-dev
sudo apt-get install x264 v4l-util

Download and Compile OpenCV

git clone https://github.com/opencv/opencv.git
cd opencv 
git checkout 3.3.0 
cd ..
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout 3.3.0
cd ..
cd opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D INSTALL_C_EXAMPLES=ON \
      -D WITH_TBB=ON \
      -D WITH_V4L=ON \
      -D WITH_QT=ON \
      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
      -D BUILD_EXAMPLES=ON ..
make -j4
sudo make install
sudo sh -c 'echo "/usr/local/lib" >> /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig

Ros Control Dependencies (REQUIRED)

Make sure you have these packages installed in the environment:

ros-kinetic-velocity-controllers ros-kinetic-ros-control ros-kinetic-position-controllers ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller

If not, type:

sudo apt-get install ros-kinetic-velocity-controllers ros-kinetic-ros-control ros-kinetic-position-controllers ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller

sudo apt-get install ros-kinetic-moveit

sudo apt-get install ros-kinetic-trajectory* //not helpful

sudo apt-get install ros-kinetic-moveit* //not helpful

sudo apt-get install ros-kinetic-joints* //not helpful

sudo apt install ros-kinetic-gazebo-ros-control

Build Instructions

To build this code in a catkin workspace:

cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/kamakshijain/segregator.git
cd ..
catkin_make

Note, that if you do not have a catkin workspace, then to build this code use the following commands:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/kamakshijain/segregator.git
cd ..
catkin_make

Installation of additional packages

In your catkin workspace directory (or create a new one using the above instructions)

git clone https://github.com/kamakshijain/iiwa_stack.git
cd ..
catkin_make
source devel/setup.bash

Running the Demo using Launch File

To run the demo, a launch file has been created. This launch file loads the Gazebo environment and runs the cam node to detect the objects on the table and segregate them into bins based on their color.

After following the build instructions, to run the demo, launch the code using the following commands:

cd ~/catkin_ws/
source devel/setup.bash
roslaunch segregator segregator.launch

To be in line with the need of the project we have added various user inputs which basically gives different color slabs for the robot to pick and place. Various user inputs can be launched using the following commands:

roslaunch segregator segregator.launch Color:=BB
roslaunch segregator segregator.launch Color:=BR
roslaunch segregator segregator.launch Color:=GB
roslaunch segregator segregator.launch Color:=RB
roslaunch segregator segregator.launch Color:=RG
roslaunch segregator segregator.launch Color:=RR
roslaunch segregator segregator.launch Color:=YG

Record Bag File

A ROS bag file is used to record all the topic and messages being published in the terminal. After following the build instructions, run the following commands to record the bag file:

cd ~/catkin_ws/
source devel/setup.bash
roslaunch segregator segregator.launch record:=enable

The bag file can be found in the results folder as that is its default storing location.

Inspecting the bag file
To get information on the generated bag file, run the following:

cd ~/catkin_ws/src/segregator/results/
rosbag info kuka.bag

Playing the bag file
To play the bag file, ROS master has to be running. In a new terminal type the following:

roscore

In a new terminal, run the following command:

cd ~/catkin_ws/src/segregator/results/
rosbag play kuka.bag

Playing the bag file to Observe motion
As stated above, you can simply play the bag file. But, to get a better understanding of what is actually happening you might need to see the motion being generated by the robot. To do so, follow the steps below. After following the build instructions, launch the Gazebo world by running the following commands:

source ~/catkin_ws/devel/setup.bash
roslaunch iiwa_moveit moveit_planning_execution.launch

To only run Gazebo, and not Rviz, run

source ~/catkin_ws/devel/setup.bash
roslaunch iiwa_moveit moveit_planning_execution.launch rviz:=false

Now once the above steps are done, in a new terminal type the following

cd ~/catkin_ws/src/segregator/results/
rosbag play kuka.bag

Run Tests

1. Run the test cases while compiling

Open a new terminal and give the following commands

catkin_make run_tests_segregator

2. Run the test cases using test node

Open a new terminal and give the following commands

source ~/catkin_ws/devel/setup.bash
roslaunch iiwa_moveit moveit_planning_execution.launch

Open a new terminal

source ~/catkin_ws/devel/setup.bash
rosrun segregator allTests

Error checks

cppcheck
To run cppcheck in Terminal, run the following commands:

cd <path to repository>
cppcheck --std=c++11 -I include/ --suppress=missingIncludeSystem $(find . -name \*.cpp -or -name \*.hpp | grep -vE -e "^./docs/" -e "^./launch/" -e "^./results/" -e "^./UML/" -e "./world/")

cpplint
To check Google C++ Style formatting in Terminal, run the following commands:

cd <path to repository>
cpplint $(find . -name \*.cpp -or -name \*.hpp | grep -vE -e "^./docs/" -e "^./launch/" -e "^./results/" -e "^./UML/" -e "./world/")

Known Issues/Bugs

The code coverage is not being generated by coveralls. We have been at it for three days, but could not figure out why the code coverage is not being generated. The code coverage is running locally but Travis doesn't seem to pick it up. One possible reason is that the world files have to run through the iiwa_stack repository and we believe that coveralls is having trouble picking that up. We even tried to include the repository in our repository but it still didn't work.

Generating Doxygen Documentation

To install doxygen run the following command:

sudo apt install doxygen

Now, to generate doxygen documentation, run the following commands:

cd ~/catkin_ws/src/segregator/
doxygen doxconfig

Doxygen files will be generated to /docs folder. To view them in a browser, run the following commands:

cd docs/html
firefox index.html