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Bunch of Fixes
Co-authored-by: dwitcpa <dwitcpa@umich.edu> - Add instructs for running all simulation nodes - calculateInverseKinematics takes double vector instead of JntArray now - Fix calls to calculateInverseKinematics - Fix orientations and bin positions in arm_pub_test.sh - calc_joint_positions takes start location as argument so we can path plan from intermediate states - Add some ROS_INFO prints for debugging - Fix bug in cv_model.py - Fix orientations sent by depth_camera_node.cpp - Add a small z offset to desired grasp pose in rrrobot_node before sending to arm controller so end effector doesn't hit object
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32
docs/gear.md
32
docs/gear.md
@@ -86,18 +86,38 @@ rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_
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## Running Full Simulation
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### ARIAC Environment
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### Terminal 1: ARIAC Environment
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- `cd /app/rrrobot_ws/src/rrrobot/scripts`
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- `./rrrobot_run.sh`
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- `./rrrobot_run_no_build.sh`
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### Build RRRobot Package
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### Terminal 2: Build RRRobot Package & Arm Controller Node
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- `cd /app/rrrobot_ws`
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- `catkin_make clean`
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- `catkin_make`
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- `source devel/setup.bash`
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### Arm Controller Node
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- `rosrun rrrobot arm_controller_node`
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### Terminal 3: CV Model
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- `cd /app/rrrobot_ws/src/rrrobot/src/`
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- `python3 cv_model.py`
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### Terminal 4: Depth Camera Node (for getting pick up location)
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- `cd /app/rrrobot_ws/`
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- `source devel/setup.bash`
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- `rosrun rrrobot depth_camera_node`
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### Terminal 5: Run the main rrrobot node
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- `cd /app/rrrobot_ws/`
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- `source devel/setup.bash`
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- `rosrun rrrobot rrrobot_node`
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### Terminal 6: Run the node to spawn random objects onto the conveyor belt
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- `cd /app/rrrobot_ws/`
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- `source devel/setup.bash`
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- `rosrun rrrobot object_spawner_node`
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