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Author SHA1 Message Date
Sravan Balaji
375c069318 Dockerfile Fix Dependency 
- Copy Eigen folder inside /usr/include/eigen3 to /usr/include folder to fix dependency issue
 2020-04-23 21:57:13 -04:00
Derek Witcpalek
e1b84d4d16 main node compiles and has code for all basic functionality required. Currently untested! 2020-04-23 16:16:35 -04:00
Derek Witcpalek
4e522b7088 Made scripts executable 2020-04-23 16:13:33 -04:00
Derek Witcpalek
c2b2ba7f6a moved files that were missed by automatic merge 2020-04-20 21:25:59 -04:00
Derek Witcpalek
ba6a147e05 Merge branch 'GEAR' of github.com:EECS-467-W20-RRRobot-Project/RRRobot into GEAR 2020-04-20 21:16:46 -04:00
Derek Witcpalek
d6c5751781 Added more models and updated models list to only include items that will be sorted 2020-04-20 21:15:55 -04:00
Sravan Balaji
f238db47c4 Point Cloud & Start of MoveIt 
- Add moveit include paths
- Add PointCloud implementation
 2020-04-20 19:34:50 -04:00
Sravan Balaji
d5c597643d Merge branch 'GEAR' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR 
- Move new files into rrrobot_ws in root src folder
 2020-04-20 18:54:17 -04:00
Sravan Balaji
d2f09fb729 Docker-Compose root src fix & New Catkin WS 
- Change docker-compose to point to rrrobot_ws and ariac_ws in root src folder
- Add CMakeLists.txt for ariac_ws
 2020-04-20 18:49:40 -04:00
Derek Witcpalek
299b0afc48 Working pipeline between model spawning and cv node 2020-04-20 18:33:40 -04:00
Sravan Balaji
dc0914abaa Merge branch 'reorg' into GEAR 
- Fix issues when workspaces were moved to root src folder
 2020-04-20 18:31:10 -04:00
Sravan Balaji
f6c202548d Root src folder & submodule 
- Move workspace folders to root src folder
- Add ARIAC UR10 MoveIt configuration submodule to ariac_ws
 2020-04-20 18:28:21 -04:00
Sravan Balaji
07d5564ab2 Move rrrobot_ws into root src folder 
- Move entire rrrobot_ws folder into a root src folder
 2020-04-20 18:18:32 -04:00
Sravan Balaji
997de26947 Setup to move workspaces into root src folder 
- Fix gitignore paths
- Move submodule within ariac_ws in root src folder
 2020-04-20 18:17:20 -04:00
Sravan Balaji
e590c4de33 UR10 Submodule 
- Add git submodule for ARIAC UR10 arm MoveIt configuration
 2020-04-20 18:07:00 -04:00
Derek Witcpalek
35adc72950 Removed extra main functions :) 2020-04-19 21:27:17 -04:00
Derek Witcpalek
acf401deb2 Fixed center of gravity for plastic bottle 2020-04-19 21:25:14 -04:00
Sravan Balaji
01e7902c1f Test Insert Object Quit Option 
- Add option to stop test insert object
- Remove comments from model_insertion_plugin.cpp
- Update home.md to specify root user when attaching a new terminal
 2020-04-19 19:40:57 -04:00
Sravan Balaji
2158c5efcd Full Code Framework 
- Add node for controlling arm
- Add node for cv model
- Add trained cv model data
- Add node for handling depth camera
- Add node for spawning in new items
- Add main node to handle interactions with other nodes
 2020-04-19 19:39:47 -04:00
Sravan Balaji
890237a6bc Plastic Bottle Model 
- Add model of plastic bottle
- Update model_mappings to include plastic bottle
 2020-04-19 19:37:50 -04:00
Sravan Balaji
fcc58797fb Sim Environment Cleanup 
- Remove unnecessary sensors
- Add script to run sim without building
- Add script to run sim with full catkin rebuild
- Remove default sensors and arm2 from sim
 2020-04-19 19:37:10 -04:00
Sravan Balaji
5fd235d961 Dockerfile Update 
- Add CV Model dependencies
- Add MoveIt dependencies
 2020-04-19 19:35:36 -04:00
Derek Witcpalek
d52e636fde Working random model insertion 2020-04-19 18:47:42 -04:00
Derek Witcpalek
c423009dd5 added plugin file 2020-04-19 13:10:16 -04:00
Derek Witcpalek
3467822714 Add messages for inserting objects 2020-04-19 13:08:37 -04:00
Derek Witcpalek
751f6ce010 Added insert object test script 2020-04-19 13:06:04 -04:00
Derek Witcpalek
36f17ee3c4 Fixed file paths 2020-04-18 17:10:12 -04:00
Derek Witcpalek
43909349e2 Merge branch 'GEAR' of github.com:EECS-467-W20-RRRobot-Project/RRRobot into GEAR 2020-04-18 16:10:12 -04:00
Derek Witcpalek
00c880cf3b Added ability to dynamically place objects in gear world 2020-04-18 15:13:42 -04:00
Sravan Balaji
1f3e445903 GEAR Environment, ROS Package, File Cleanup 
- Remove gazebo_models folder
- Remove simulation_env folder
- Remove world folder
- Create rrrobot ROS package w/ Node
- Move bash scripts to scripts folder in rrrobot package
- Create rrrobot_node.cpp from GEAR example in documentation
- Add yaml files for sensor and environment configuration
 2020-04-18 14:02:14 -04:00
Derek Witcpalek
f0c955ee02 Allows models to be placed dynamically at any location and orientation 2020-04-18 01:27:29 -04:00
Derek Witcpalek
f0e3eef22a Allows models to be inserted at a specific location 2020-04-18 00:37:32 -04:00
Derek Witcpalek
f8a3f769e9 Stopped trash can from tipping over 2020-04-18 00:35:43 -04:00
Derek Witcpalek
71acdaf9d7 Added plugin to dynamically insert models 2020-04-18 00:17:18 -04:00
Derek Witcpalek
02d03710b9 Moved things over to rrrobot_ws instead of rrrobot_src 2020-04-16 23:14:20 -04:00
Derek Witcpalek
d9e2073644 Merge branch 'arm_control' into GEAR 2020-04-16 20:59:12 -04:00
Derek Witcpalek
ccae110574 Updated PID and added arm with suction gripper to the world 2020-04-16 20:57:43 -04:00
Derek Witcpalek
54c38f8119 Made script file executable 2020-04-15 18:18:05 -04:00
Derek Witcpalek
85d500106a Added setpoint testing world 2020-04-15 15:54:31 -04:00
Derek Witcpalek
ba6901d32a Modified arm controller node to handle all arm control. It receives desired end effector poses and actuates the arm. Also includes some clean up. 2020-04-15 15:52:49 -04:00
Sravan Balaji
aa19a69917 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
 2020-04-13 00:59:15 -04:00
Sravan Balaji
432b0b7e3d Add GEAR Source Submodules 
- Add submodule for ariac and gazebo packages
 2020-04-12 15:30:41 -04:00
Sravan Balaji
75f0d553fe Remove Submodule & Fix Dockerfile 
- Remove gazebo source submodule
- Fix dockerfile to use sudo to install ariac3 package
- Remove instructions related to submodule
- Remove sourcing setup.bash in workspace from instructions
 2020-04-12 14:45:24 -04:00
Derek Witcpalek
ef26d8ffef Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too. 
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation.
  -Created a demo world with setpoints that the robot heads to.
  -Arm kinematic representation is working.
  -PID control of each joint is working to a basic extent. Some segments are more responsive than others.

Still to do:
  -reading in SDF should be more robust, and should support all joint types
  -better control
  -obstacle avoidance in arm movement path
  -control with gravity
  -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
 2020-04-12 14:18:01 -04:00
Sravan Balaji
705f7ac662 Merge branch 'master' into warehouse 
- Move warehouse & gazebo sim instructions from README to home.md
 2020-04-12 11:54:29 -04:00
Sravan Balaji
60bc79aea5 Warehouse Documentation & Docker 
- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR
 2020-04-12 11:51:52 -04:00
Sravan Balaji
30f39c7fdd Update gitignore 
Ignore all build, devel, and install folders in rrrobot_src
 2020-04-12 10:55:03 -04:00
Sravan Balaji
a6374ff9b9 Warehouse Catkin Workspace 
- Add CMakeLists.txt for warehouse catkin workspace
 2020-04-12 10:40:58 -04:00
Sravan Balaji
5319a1d252 ARIAC GEAR Simulation Environment 
- Add submodule for ariac Gazebo ROS Packages
 2020-04-12 10:38:41 -04:00
Sravan Balaji
030e354474 Set theme jekyll-theme-cayman 2020-04-11 09:12:24 -04:00