/ariac_project

The project consist of our implementation of different attempts for the 2017 ariac competition

Primary LanguageC++

ariac_project

ARIAC: Agile Robots for Industrial Automation Competition. The project is for implementing solutions to real-life problems in a manufacturing environment. The environment is simulated in gazebo using the osrf_gear package.

Dependencies

1.osrf_gear is the package which is the primary dependency.This can be downloaded from here.

  1. Gazebo 7

  2. ROS Indigo or ROS kinetic

  3. Moveit! and Moveit! for ARIAC packages. Follow instructions from here. Choose the correct ROS version. After you are done, put source install/setup.bash from where you installed moveit packages in the ~/.bashrc. Make sure you check where Moveit is working properly and you can do planning by using following commands and following the tutorial page-

 rosrun osrf_gear gear.py -f `catkin_find --share osrf_gear`/config/sample.yaml
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true
roslaunch ur10_moveit_config moveit_rviz.launch config:=true

Installation

mkdir -p ~/catkin_ws/src
cd catkin_ws/src
git clone https://github.com/rishabh1b/ariac_project
cd ~/catkin_ws
catkin_make

Running a Basic Demo

Following commands will run qualifier 1a

Terminal 1 -

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch ariac_comp gear_bringup.launch

Terminal 2 -

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch ariac_comp competition.launch

Outputs

Picking From Bin Picking From Conveyor Belt
Part Placement Part Placement correction

The code base is capable of picking and placing the parts in correct orientation using only one logical camera.