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8bc0046e7bb1cf95237c72d712f795b1936ab2c1
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Author SHA1 Message Date
Derek Witcpalek
8bc0046e7b Changes to arm controller to get it closer to working, and some tests for verifying the correctness of the KDL arm representation 2020-04-25 17:28:06 -04:00
Sravan Balaji
d7918b49a0 KDL Planning Implementation 
Co-authored-by: dwitcpa <dwitcpa@umich.edu>

- Add PCL, Eigen3, KDL dependencies to CMakeLists.txt
- Clean up and fix typos in topic_names.h
- Add KDL implementation of arm_controller_node
- Fix small typo in depth_camera_node.cpp
- Fix small typo in rrrobot_node.cpp
- Add instructions for building RRRobot package and running node
 2020-04-25 05:15:11 -04:00
Sravan Balaji
6937aa5074 Starting Custom IK Arm Controller 
- Add framework for sending joint trajectory commands via ARIAC interface
 2020-04-25 00:10:53 -04:00
Sravan Balaji
9ea4101f35 Merge branch 'GEAR' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR 2020-04-24 23:32:55 -04:00
Sravan Balaji
3e1e47a3f6 Removing MoveIt Dependencies 
- Fix gitignore not ignoring core files and add comments
- Remove MoveIt dependencies from Dockerfile
- Delete build.sh from ariac_ws since not using MoveIt configs
- Remove catkin_make clean from arm_test.sh
- Remove catkin_make clean and install from rrrobot_run.sh
 2020-04-24 23:32:44 -04:00
Euxitheos
37c165428a specified depth camera posistion 2020-04-24 21:32:26 -04:00
Euxitheos
6ae4e18100 depth camera node 2020-04-24 15:45:05 -04:00
Sravan Balaji
890f0414fa Move Universal Robot submodule to ariac_ws folder 
- Rename moveit_ws to ariac_ws
- Update submodule commit
 2020-04-24 12:47:18 -04:00
Sravan Balaji
4fbf138ad2 Add universal_robot submodule 
- Forked osrf/universal_robot to our GitHub group so we can make and track changes to config and launch files
 2020-04-24 12:32:37 -04:00
Sravan Balaji
b833a55acb Remove ARIAC universal robots submodule 2020-04-24 12:23:24 -04:00
Sravan Balaji
24ae633ad2 Merge branch 'GEAR' of https://github.com/EECS-467-W20-RRRobot-Project/RRRobot into GEAR 2020-04-23 22:17:01 -04:00
Sravan Balaji
8ae09a1b8e Adding FIles for Merge 2020-04-23 22:15:10 -04:00
Sravan Balaji
758fd38ab7 Arm Controller Node Implementation 
- Ignore core file
- Add moveit_ros_planning_interface to catkin required components
- Add executables for arm_controller and comment out other nodes
- Move position of depth camera
- Add arm_controller MoveIt implementation
 2020-04-23 22:07:40 -04:00
Sravan Balaji
1877a471da Add Scripts 
- Add build.sh in ariac_ws to build and enable motion planning
- Add arm_pub_test.sh to publish a target position ros message
- Add arm_test.sh to build and run arm_controller_node
 2020-04-23 22:04:11 -04:00
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