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Merge branch 'GEAR_arm_controller' of github.com:EECS-467-W20-RRRobot-Project/RRRobot into GEAR_arm_controller

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This commit is contained in:
Derek Witcpalek 2020-04-27 00:52:23 -04:00
commit 216cc3485f
5 changed files with 18 additions and 27 deletions
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5
src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
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@ -1,9 +1,4 @@
sensors: sensors:
logical_camera_1:
type: logical_camera
pose:
xyz: [1.2, 3.5, 1.5]
rpy: [0, 1.5707, 0]
depth_camera_1: depth_camera_1:
type: depth_camera type: depth_camera
pose: pose:

2
src/rrrobot_ws/src/rrrobot/src/cv_model.py
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@ -50,7 +50,7 @@ def call_back(filename):
print('type: ', type_dict[predicted_label]) print('type: ', type_dict[predicted_label])
# publish a message, name of this node is 'cv_model' # publish a message, name of this node is 'cv_model'
pub = rospy.Publisher('cv_model', String, queue_size=10) pub = rospy.Publisher('/cv_model', String, queue_size=10)
# rospy.init_node('talker', anonymous=True) # rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz rate = rospy.Rate(10) # 10hz

2
src/rrrobot_ws/src/rrrobot/src/object_spawner_node.cpp
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@ -20,7 +20,7 @@ class ObjectSpawner
{ {
public: public:
ObjectSpawner(const std::string &model_file = "/app/rrrobot_ws/src/gazebo_models/model_mappings.txt") ObjectSpawner(const std::string &model_file = "/app/rrrobot_ws/src/gazebo_models/model_mappings.txt")
: DEFAULT_SPAWN_POINT(1.21825, 5.474367, 0.937978), : DEFAULT_SPAWN_POINT(1.21825, 4.0, 0.937978),
CONVEYOR_WIDTH(0.391404) CONVEYOR_WIDTH(0.391404)
{ {
// DEFAULT_SPAWN_POINT.x = 0.2516105; // DEFAULT_SPAWN_POINT.x = 0.2516105;

26
src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
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@ -127,7 +127,7 @@ public:
desired_grasp_pose = grasp_pose; desired_grasp_pose = grasp_pose;
// TODO: Tune z offset so end effector doesn't hit object // TODO: Tune z offset so end effector doesn't hit object
desired_grasp_pose.position.z -= 0.025; desired_grasp_pose.position.z += 0.01;
if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION) if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION)
{ {
@ -165,23 +165,19 @@ private:
ros::ServiceClient conveyor_pub; ros::ServiceClient conveyor_pub;
ros::Publisher arm_destination_pub; ros::Publisher arm_destination_pub;
Position trash_bin = Position(-0.3, 0.383, 1);
Position recycle_bin = Position(-0.3, 1.15, 1);
Position destination(const std::string &type) const Position destination(const std::string &type) const
{ {
Position pos; Position pos;
float z = 1;
if(type == "trash") {
if (type == "cardboard") pos = trash_bin;
pos = Position(-0.3, -1.916, z); }
else if (type == "glass") else {
pos = Position(-0.3, -1.15, z); pos = recycle_bin;
else if (type == "metal") }
pos = Position(-0.3, -0.383, z);
else if (type == "paper")
pos = Position(-0.3, 0.383, z);
else if (type == "plastic")
pos = Position(-0.3, 1.15, z);
else if (type == "trash")
pos = Position(-0.3, 1.916, z);
return pos; return pos;
} }

10
src/rrrobot_ws/world/gear.py
View File

@ -113,12 +113,12 @@ bin_depth = 0.6
bin_height = 0.72 bin_height = 0.72
bin_angle = 0.0 bin_angle = 0.0
default_bin_origins = { default_bin_origins = {
'bin1': [-0.3, -1.916, 0], # 'bin1': [-0.3, -1.916, 0],
'bin2': [-0.3, -1.15, 0], # 'bin2': [-0.3, -1.15, 0],
'bin3': [-0.3, -0.383, 0], # 'bin3': [-0.3, -0.383, 0],
'bin4': [-0.3, 0.383, 0], 'bin4': [-0.3, 0.383, 0],
'bin5': [-0.3, 1.15, 0], 'bin5': [-0.3, 1.15, 0],
'bin6': [-0.3, 1.916, 0], # 'bin6': [-0.3, 1.916, 0],
} }
configurable_options = { configurable_options = {
@ -135,7 +135,7 @@ configurable_options = {
'visualize_sensor_views': False, 'visualize_sensor_views': False,
'visualize_drop_regions': False, 'visualize_drop_regions': False,
} }
default_time_limit = 500 # seconds default_time_limit = 600 # seconds
max_count_per_model = 30 # limit on the number of instances of each model type max_count_per_model = 30 # limit on the number of instances of each model type
def initialize_model_id_mappings(random_seed=None): def initialize_model_id_mappings(random_seed=None):