C++ project to build and dispatch kits for a given order based on the parts available in the bin and the conveyor belt.
- Saurav Kumar
- Rachith Prakash
- Srinivas Iskala
- Dinesh Kadirimangalam
- Sanket Acharya
- Preyash Parikh
This project implements hybrid architecture, where Sensory Module, Planning module and Execution module works independently to achieve the goal to build the kit. The algorithm read the order , makes smart decision for the shipment with any
tag , checks the parts availability in the tray and the bin and generate a priority queues of the order parts for both the arms.
Senses the world and update the parts available in the world continuously
Updates priority queues for arm1 and arm2 based on the parts availability and reach ability
Acts on the immediate goal from the planner to pick and drop the part
This project uses the following packages:
-
ROS Melodic
-
Ubuntu 18.04
-
Packages Dependencies:
- catkin
- geometry_msgs
- moveit_ros_planning_interface
- moveit_visual_tools
- osrf_gear
- roscpp
- sensor_msgs
- std_msgs
- std_srvs
- trajectory_msgs
unzip the files to this location
cd ~/catkin_ws/src/
and then run following command in the terminal
cd ~/catkin_ws/src/
cd ..
catkin_make
open terminal and type the following command :
roslaunch ariac_2019_challange ariac_2019_challange.launch
roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1
roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm2
rosrun ariac_2019_challange main_node