Robotic product handling simulation
Lillian Moller Gilbreth was an American psychologist and industrial engineer.
The project is based on Ubuntu 16.04 and ROS Kinect. To install ROS and Gazebo, the following links might be helpful.
http://wiki.ros.org/kinetic/Installation/Ubuntu
http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install
Be sure to install gazebo_ros_packages.
http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install
Create a catkin workspace.
http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Second, go to src folder in your workspace:
cd ~/catkin_ws/src
Third,clone gilbreth_gazebo and gilbreth_description folder:
git clone https://github.com/swri-robotics/gilbreth.git
Make the files
cd ~/catkin_ws
catkin_make
Source the workspace and add the Gazebo model path environment variables
cd ~/catkin_ws
source devel/setup.bash
bash src/gilbreth/gilbreth_support/scripts/export_gazebo_model_path.bash
roslaunch urdf_tutorial display.launch model:=`rospack find gilbreth_support`/urdf/gilbreth.xacro
Roslaunch the gazebo environment:
roslaunch gilbreth_support gilbreth.launch
Activate the gripper:
rosservice call /gilbreth/gripper/control "enable: <true/false>"
Activate the conveyor:
rosservice call /gilbreth/conveyor/control "state: power: <(0.0 - 100.0)>"
Control the conveyor part spawner:
rosservice call /[start/stop]_spawn