mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-31 11:23:14 +00:00
Rename Folder, Remove Submodules, & GEAR Container
- Update gitignore to ignore build, devel, and install folders in rrrobot_ws - Remove git submodules - Rename rrrobot_src to rrrobot_ws indicating that this is a catkin workspace - Create GEAR docker container - Move GEAR specific documentation to its own page - Add link to overleaf report on home page - Add tips & tricks section to home page
This commit is contained in:
Sravan Balaji
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docs/gear.md
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docs/gear.md
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# GEAR Simulation
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## Running GEAR Container
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1. Go to `docker_env` folder
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- `cd /PATH/TO/RRRobot/docker_env`
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2. Start GEAR docker container
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- `docker-compose run --rm gear`
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## Building & Running Sample Environment
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1. Source ROS Setup
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- `source /opt/ros/melodic/setup.bash`
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<!-- 2. Go to rrrobot_ws folder in container
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- `cd /app/rrrobot_ws`
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3. Build package
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- `catkin_make clean`
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- `catkin_make`
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- `catkin_make install` -->
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2. Run sample environment
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- `roslaunch osrf_gear sample_environment.launch`
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## Controlling Sample Environment
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While sample environment is running, open a new terminal (see tips & tricks section of [home](./home.md)) on the running docker container. The following sections provide a brief overview of the commands that can be used to control various aspects of the simulation. For a full list, check out the [ARIAC 2019 Wiki](https://bitbucket.org/osrf/ariac/wiki/2019/tutorials/gear_interface).
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[sample_run.sh](../rrrobot_ws/src/gear/sample_run.sh) moves arm 1 over the gasket part, picks it up, moves it to AGV1's tray, drops it, and moves back to the starting position.
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### Start Competition
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`rosservice call /ariac/start_competition`
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### Controlling Arms
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#### Gripper
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- Turn gripper suction on
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- `rosservice call /ariac/arm1/gripper/control "enable: true"`
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- Turn gripper suction off
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- `rosservice call /ariac/arm1/gripper/control "enable: false"`
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#### Joints
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Move `arm1` over a gasket part
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```
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rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
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['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
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points: [ \
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{time_from_start: {secs: 2}, \
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positions: [0.15, 3.14, -1.570, 2.14, 3.1, -1.59, 0.126]}, \
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{time_from_start: {secs: 4}, \
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positions: [-0.35, 3.14, -0.6, 2.3, 3.0, -1.59, 0.126]}, \
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{time_from_start: {secs: 6}, \
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positions: [-0.35, 3.14, -0.5, 2.3, 3.05, -1.59, 0.126]}, \
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]}" -1
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```
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Move part to `AGV1`'s tray
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```
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rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
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['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
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points: [ \
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{time_from_start: {secs: 2}, \
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positions: [0.0, 3.14, -1.570, 2.14, 3.27, -1.51, 0.0]}, \
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{time_from_start: {secs: 5}, \
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positions: [1.0, 1.85, 0, -0.38, 1.57, -1.51, 0.00]}, \
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{time_from_start: {secs: 7}, \
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positions: [1.0, 1.507, 0, -0.38, 0.38, -1.51, 0.00]}, \
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{time_from_start: {secs: 10}, \
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positions: [1.18, 1.507, 0.38, -0.38, 1.55, 1.75, 0.127]}, \
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]}" -1
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```
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Return to starting position
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```
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rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
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['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
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points: [ \
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{time_from_start: {secs: 5}, \
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positions: [0.0, 3.14, -1.570, 2.14, 3.27, -1.51, 0.0]}, \
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]}" -1
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```
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38
docs/home.md
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docs/home.md
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- [Docker Compose Services](#docker-compose-services)
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- [GUI Support](#gui-support)
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- [Running Docker Containers](#running-docker-containers)
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- [Warehouse Simulation](#warehouse-simulation)
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- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
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- [GEAR Simulation](#gear-simulation)
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- [Tips & Tricks](#tips--tricks)
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## Contributors
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@@ -30,6 +31,7 @@
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1. [Project Poster](1.%20Project%20Poster.pdf)
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2. [Project Proposal](2.%20Project%20Proposal.pdf)
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3. [Final Project - Overleaf (Read-Only)](https://www.overleaf.com/read/ncvksrzpvbmr)
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## Introduction
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@@ -59,6 +61,10 @@ ros is the production container for all ROS nodes we create. This is meant to ru
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Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
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#### gear <!-- omit in toc -->
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The GEAR container includes the Gazebo Environment for Agile Robotics from the Agile Robotics for Industrial Automation Competition 2019.
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### GUI Support
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If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
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@@ -100,23 +106,6 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
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4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
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- `docker-compose run --rm <service_name>`
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### Warehouse Simulation
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1. Go to `docker_env` folder
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- `cd /PATH/TO/RRRobot/docker_env`
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2. Start gazebo docker container
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- `docker-compose run --rm warehouse`
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3. Source ROS Setup
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- `source /opt/ros/melodic/setup.bash`
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4. Go to warehouse folder in container
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- `cd /app/rrrobot_src/warehouse`
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5. Build package
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- `catkin_make clean`
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- `catkin_make`
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- `catkin_make install`
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6. Run sample environment
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- `roslaunch osrf_gear sample_environment.launch`
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### Gazebo Grasping Simulation
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1. Source ROS Setup
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@@ -129,3 +118,16 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
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4. Run the gazebo simulator - this will bring up gazebo with a robotic arm
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- `gazebo /app/rrrobot_src/world/rrrobot.world`
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5. Run control and perception programs
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### GEAR Simulation
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Instructions for working in the GEAR Simulation can be found on the [GEAR](gear.md) page.
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### Tips & Tricks
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- Clear space on docker machine
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- `docker system prune --volumes`
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- See running containers
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- `docker ps`
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- Attach a new terminal to a running container
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- `docker exec -it <container> bash`
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