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.
1.osrf_gear
is the package which is the primary dependency.This can be downloaded from here.
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Gazebo 7
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ROS Indigo or ROS kinetic
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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
mkdir -p ~/catkin_ws/src
cd catkin_ws/src
git clone https://github.com/rishabh1b/ariac_project
cd ~/catkin_ws
catkin_make
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
Picking From Bin | Picking From Conveyor Belt |
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Part Placement | Part Placement correction |
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The code base is capable of picking and placing the parts in correct orientation using only one logical camera.