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:
85
docs/gear.md
Normal file
85
docs/gear.md
Normal file
@@ -0,0 +1,85 @@
|
||||
# GEAR Simulation
|
||||
|
||||
## Running GEAR Container
|
||||
|
||||
1. Go to `docker_env` folder
|
||||
- `cd /PATH/TO/RRRobot/docker_env`
|
||||
2. Start GEAR docker container
|
||||
- `docker-compose run --rm gear`
|
||||
|
||||
## Building & Running Sample Environment
|
||||
|
||||
1. Source ROS Setup
|
||||
- `source /opt/ros/melodic/setup.bash`
|
||||
<!-- 2. Go to rrrobot_ws folder in container
|
||||
- `cd /app/rrrobot_ws`
|
||||
3. Build package
|
||||
- `catkin_make clean`
|
||||
- `catkin_make`
|
||||
- `catkin_make install` -->
|
||||
2. Run sample environment
|
||||
- `roslaunch osrf_gear sample_environment.launch`
|
||||
|
||||
## Controlling Sample Environment
|
||||
|
||||
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).
|
||||
|
||||
[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.
|
||||
|
||||
### Start Competition
|
||||
|
||||
`rosservice call /ariac/start_competition`
|
||||
|
||||
### Controlling Arms
|
||||
|
||||
#### Gripper
|
||||
|
||||
- Turn gripper suction on
|
||||
- `rosservice call /ariac/arm1/gripper/control "enable: true"`
|
||||
- Turn gripper suction off
|
||||
- `rosservice call /ariac/arm1/gripper/control "enable: false"`
|
||||
|
||||
#### Joints
|
||||
|
||||
Move `arm1` over a gasket part
|
||||
|
||||
```
|
||||
rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
|
||||
['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
|
||||
points: [ \
|
||||
{time_from_start: {secs: 2}, \
|
||||
positions: [0.15, 3.14, -1.570, 2.14, 3.1, -1.59, 0.126]}, \
|
||||
{time_from_start: {secs: 4}, \
|
||||
positions: [-0.35, 3.14, -0.6, 2.3, 3.0, -1.59, 0.126]}, \
|
||||
{time_from_start: {secs: 6}, \
|
||||
positions: [-0.35, 3.14, -0.5, 2.3, 3.05, -1.59, 0.126]}, \
|
||||
]}" -1
|
||||
```
|
||||
|
||||
Move part to `AGV1`'s tray
|
||||
|
||||
```
|
||||
rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
|
||||
['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
|
||||
points: [ \
|
||||
{time_from_start: {secs: 2}, \
|
||||
positions: [0.0, 3.14, -1.570, 2.14, 3.27, -1.51, 0.0]}, \
|
||||
{time_from_start: {secs: 5}, \
|
||||
positions: [1.0, 1.85, 0, -0.38, 1.57, -1.51, 0.00]}, \
|
||||
{time_from_start: {secs: 7}, \
|
||||
positions: [1.0, 1.507, 0, -0.38, 0.38, -1.51, 0.00]}, \
|
||||
{time_from_start: {secs: 10}, \
|
||||
positions: [1.18, 1.507, 0.38, -0.38, 1.55, 1.75, 0.127]}, \
|
||||
]}" -1
|
||||
```
|
||||
|
||||
Return to starting position
|
||||
|
||||
```
|
||||
rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
|
||||
['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
|
||||
points: [ \
|
||||
{time_from_start: {secs: 5}, \
|
||||
positions: [0.0, 3.14, -1.570, 2.14, 3.27, -1.51, 0.0]}, \
|
||||
]}" -1
|
||||
```
|
38
docs/home.md
38
docs/home.md
@@ -8,8 +8,9 @@
|
||||
- [Docker Compose Services](#docker-compose-services)
|
||||
- [GUI Support](#gui-support)
|
||||
- [Running Docker Containers](#running-docker-containers)
|
||||
- [Warehouse Simulation](#warehouse-simulation)
|
||||
- [Gazebo Grasping Simulation](#gazebo-grasping-simulation)
|
||||
- [GEAR Simulation](#gear-simulation)
|
||||
- [Tips & Tricks](#tips--tricks)
|
||||
|
||||
## Contributors
|
||||
|
||||
@@ -30,6 +31,7 @@
|
||||
|
||||
1. [Project Poster](1.%20Project%20Poster.pdf)
|
||||
2. [Project Proposal](2.%20Project%20Proposal.pdf)
|
||||
3. [Final Project - Overleaf (Read-Only)](https://www.overleaf.com/read/ncvksrzpvbmr)
|
||||
|
||||
## Introduction
|
||||
|
||||
@@ -59,6 +61,10 @@ ros is the production container for all ROS nodes we create. This is meant to ru
|
||||
|
||||
Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
|
||||
|
||||
#### gear <!-- omit in toc -->
|
||||
|
||||
The GEAR container includes the Gazebo Environment for Agile Robotics from the Agile Robotics for Industrial Automation Competition 2019.
|
||||
|
||||
### GUI Support
|
||||
|
||||
If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
|
||||
@@ -100,23 +106,6 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
|
||||
4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
|
||||
- `docker-compose run --rm <service_name>`
|
||||
|
||||
### Warehouse Simulation
|
||||
|
||||
1. Go to `docker_env` folder
|
||||
- `cd /PATH/TO/RRRobot/docker_env`
|
||||
2. Start gazebo docker container
|
||||
- `docker-compose run --rm warehouse`
|
||||
3. Source ROS Setup
|
||||
- `source /opt/ros/melodic/setup.bash`
|
||||
4. Go to warehouse folder in container
|
||||
- `cd /app/rrrobot_src/warehouse`
|
||||
5. Build package
|
||||
- `catkin_make clean`
|
||||
- `catkin_make`
|
||||
- `catkin_make install`
|
||||
6. Run sample environment
|
||||
- `roslaunch osrf_gear sample_environment.launch`
|
||||
|
||||
### Gazebo Grasping Simulation
|
||||
|
||||
1. Source ROS Setup
|
||||
@@ -129,3 +118,16 @@ Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) wi
|
||||
4. Run the gazebo simulator - this will bring up gazebo with a robotic arm
|
||||
- `gazebo /app/rrrobot_src/world/rrrobot.world`
|
||||
5. Run control and perception programs
|
||||
|
||||
### GEAR Simulation
|
||||
|
||||
Instructions for working in the GEAR Simulation can be found on the [GEAR](gear.md) page.
|
||||
|
||||
### Tips & Tricks
|
||||
|
||||
- Clear space on docker machine
|
||||
- `docker system prune --volumes`
|
||||
- See running containers
|
||||
- `docker ps`
|
||||
- Attach a new terminal to a running container
|
||||
- `docker exec -it <container> bash`
|
||||
|
Reference in New Issue
Block a user