- Add troubleshooting section to gear.md that discusses using dos2unix if there are newline character issues
- Remove commented out commands from run_all.sh
- Added file name as comment to top of file
- Add some brief comments explaining what functions do
- Removed code that was commented out
- Add whitespace
- Change using std::<function> to using namespace std
- Add page links at the top of each website page
- Add link to draft video to home.md
- Fix links that don't point to files in the docs folder to point to file in GitHub repo
- Add instructions for using run_all.sh script to gear.md
- Add documentation.md to describe file structure and what each of the files are for
- Remove commented out code from rrrobot.yaml and change time_limit to 10 minutes
- Update dependencies in rrrobot package.xml
- Update ROS package version to 1.0.0
- Update CV model with better pre-trained model
- Remove ariac_ws from docker-compose
- Update home.md to indicate that GEAR is final simulation
- Update run_all.sh with comments and add sleep between commands
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Combine pip3 install commands in Dockerfile
- Add positions for trash and recycling bins
- Classification is now just trash vs recycling
- Remove extra bins, so we only have 2
- Increase default time limit to 10 minutes
- Remove extra points after decimal and slightly increase z for arm_pub_test
- Increase rotation threshold to 0.05 for comparing quaternion orientations
- Remove TODO comments
- Fix z offset direction when correcting position if item doesn't attach
- Remove commented out code from test_arm
- Test arm prints to arm_test.debug instead of data.txt
- Update gitignore to not include .debug files
- Fix target location for dropping item when checking if it has been reached
- Compare quaternion rotations instead of roll, pitch, yaw for mathematical robustness
- Make ros spinner asynchronous
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
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Add parameters for arm controller: time per step, retry attempts, and z adjustment when trying to attach item
- Implement retry attempts for arm_destination_callback
- Add enum arm_action_phase to allow for different trajectories based on phase
- Add intermediate positions to send_joint_trajectory function
- gripper_control function now returns success status
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Remove ArmRepresentation class (commented out) from arm_controller_node.cpp
- Give additional time to joint trajectory if we don't reach the target
- Change arm_pub_test.sh location
- Add script to move robot to all joint positions = 0
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Fix base position and orientation relative to world in arm_representation.h
- Update all joint rotation defintions to use Quaternions
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Fix base position and orientation relative to world in arm_representation.h
- Update all joint rotation defintions to use Quaternions
- Add script to move all arm joints to position 0
