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
This commit is contained in:
Sravan Balaji
2020-04-26 19:51:26 -04:00
parent bcac9feeec
commit 733f637d08
9 changed files with 101 additions and 69 deletions

View File

@@ -86,18 +86,38 @@ rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_
## Running Full Simulation
### ARIAC Environment
### Terminal 1: ARIAC Environment
- `cd /app/rrrobot_ws/src/rrrobot/scripts`
- `./rrrobot_run.sh`
- `./rrrobot_run_no_build.sh`
### Build RRRobot Package
### Terminal 2: Build RRRobot Package & Arm Controller Node
- `cd /app/rrrobot_ws`
- `catkin_make clean`
- `catkin_make`
- `source devel/setup.bash`
### Arm Controller Node
- `rosrun rrrobot arm_controller_node`
### Terminal 3: CV Model
- `cd /app/rrrobot_ws/src/rrrobot/src/`
- `python3 cv_model.py`
### Terminal 4: Depth Camera Node (for getting pick up location)
- `cd /app/rrrobot_ws/`
- `source devel/setup.bash`
- `rosrun rrrobot depth_camera_node`
### Terminal 5: Run the main rrrobot node
- `cd /app/rrrobot_ws/`
- `source devel/setup.bash`
- `rosrun rrrobot rrrobot_node`
### Terminal 6: Run the node to spawn random objects onto the conveyor belt
- `cd /app/rrrobot_ws/`
- `source devel/setup.bash`
- `rosrun rrrobot object_spawner_node`